SE0301531L - A Control method for a robot - Google Patents

A Control method for a robot

Info

Publication number
SE0301531L
SE0301531L SE0301531A SE0301531A SE0301531L SE 0301531 L SE0301531 L SE 0301531L SE 0301531 A SE0301531 A SE 0301531A SE 0301531 A SE0301531 A SE 0301531A SE 0301531 L SE0301531 L SE 0301531L
Authority
SE
Sweden
Prior art keywords
robot
control method
control
Prior art date
Application number
SE0301531A
Other languages
English (en)
Other versions
SE0301531D0 (sv
Inventor
Soenke Kock
Christian Mueller
Torgny Brogaardh
Jesper Bergsjoe
Stig Moberg
Andreas Olevik
Original Assignee
Abb Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Ab filed Critical Abb Ab
Priority to SE0301531A priority Critical patent/SE0301531L/sv
Publication of SE0301531D0 publication Critical patent/SE0301531D0/sv
Priority to PCT/SE2004/000790 priority patent/WO2004104714A1/en
Priority to EP04734023.7A priority patent/EP1625449B1/en
Priority to US10/557,774 priority patent/US7872436B2/en
Priority to CN2004800205966A priority patent/CN1823310B/zh
Publication of SE0301531L publication Critical patent/SE0301531L/sv

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G05B13/025—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance using a perturbation signal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41156—Injection of vibration anti-stick, against static friction, dither, stiction

Landscapes

  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
SE0301531A 2003-05-22 2003-05-22 A Control method for a robot SE0301531L (sv)

Priority Applications (5)

Application Number Priority Date Filing Date Title
SE0301531A SE0301531L (sv) 2003-05-22 2003-05-22 A Control method for a robot
PCT/SE2004/000790 WO2004104714A1 (en) 2003-05-22 2004-05-19 A control method for a robot
EP04734023.7A EP1625449B1 (en) 2003-05-22 2004-05-19 Control method for a robot
US10/557,774 US7872436B2 (en) 2003-05-22 2004-05-19 Control method for a robot
CN2004800205966A CN1823310B (zh) 2003-05-22 2004-05-19 控制工业机器人的设备和方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0301531A SE0301531L (sv) 2003-05-22 2003-05-22 A Control method for a robot

Publications (2)

Publication Number Publication Date
SE0301531D0 SE0301531D0 (sv) 2003-05-22
SE0301531L true SE0301531L (sv) 2004-11-23

Family

ID=20291405

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0301531A SE0301531L (sv) 2003-05-22 2003-05-22 A Control method for a robot

Country Status (5)

Country Link
US (1) US7872436B2 (sv)
EP (1) EP1625449B1 (sv)
CN (1) CN1823310B (sv)
SE (1) SE0301531L (sv)
WO (1) WO2004104714A1 (sv)

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Also Published As

Publication number Publication date
US7872436B2 (en) 2011-01-18
EP1625449A1 (en) 2006-02-15
SE0301531D0 (sv) 2003-05-22
US20070260356A1 (en) 2007-11-08
CN1823310A (zh) 2006-08-23
CN1823310B (zh) 2010-10-13
EP1625449B1 (en) 2013-04-10
WO2004104714A1 (en) 2004-12-02

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