SE401121B - Forfarande for automatisk styrning av en manipulator med flera operationsaxlar lengs en foreskriven bana - Google Patents

Forfarande for automatisk styrning av en manipulator med flera operationsaxlar lengs en foreskriven bana

Info

Publication number
SE401121B
SE401121B SE7409033A SE7409033A SE401121B SE 401121 B SE401121 B SE 401121B SE 7409033 A SE7409033 A SE 7409033A SE 7409033 A SE7409033 A SE 7409033A SE 401121 B SE401121 B SE 401121B
Authority
SE
Sweden
Prior art keywords
manipulator
procedure
automatic control
several operating
prescribed path
Prior art date
Application number
SE7409033A
Other languages
English (en)
Swedish (sv)
Other versions
SE7409033L (de
Inventor
A Irie
Original Assignee
Kawasaki Heavy Ind Ltd
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 Kawasaki Heavy Ind Ltd filed Critical Kawasaki Heavy Ind Ltd
Publication of SE7409033L publication Critical patent/SE7409033L/xx
Publication of SE401121B publication Critical patent/SE401121B/xx

Links

Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42207—Generate points between start and end position, linear interpolation
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
SE7409033A 1973-07-09 1974-07-09 Forfarande for automatisk styrning av en manipulator med flera operationsaxlar lengs en foreskriven bana SE401121B (sv)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP48077305A JPS5024686A (de) 1973-07-09 1973-07-09

Publications (2)

Publication Number Publication Date
SE7409033L SE7409033L (de) 1975-01-10
SE401121B true SE401121B (sv) 1978-04-24

Family

ID=13630185

Family Applications (1)

Application Number Title Priority Date Filing Date
SE7409033A SE401121B (sv) 1973-07-09 1974-07-09 Forfarande for automatisk styrning av en manipulator med flera operationsaxlar lengs en foreskriven bana

Country Status (7)

Country Link
US (1) US3943343A (de)
JP (1) JPS5024686A (de)
DE (1) DE2433003A1 (de)
FR (1) FR2236620B1 (de)
GB (1) GB1475548A (de)
IT (1) IT1017026B (de)
SE (1) SE401121B (de)

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IT1043940B (it) * 1974-12-20 1980-02-29 Fiat Spa Apparecchaitura per il controllo di una macchina operatrice del tipo robot
USRE31208E (en) * 1974-12-26 1983-04-12 Unimation, Inc. Signal modification device for memory controlled manipulator apparatus
US4029949A (en) * 1975-07-08 1977-06-14 The Charles Stark Draper Laboratory, Inc. Servo-controlled microscope stage
US4031369A (en) * 1975-08-12 1977-06-21 The Bendix Corporation Interpolation and control apparatus and method for a numerical control system
US4260940A (en) * 1975-10-28 1981-04-07 Unimation, Inc. Programmable automatic assembly system
US4163183A (en) * 1975-10-28 1979-07-31 Unimation, Inc. Programmable automatic assembly system
US4115684A (en) * 1976-06-17 1978-09-19 Unimation Portable, programmable manipulator apparatus
US4179602A (en) * 1976-07-16 1979-12-18 Shin Meiwa Industry Co., Ltd. Method and system of velocity control for automatic welding apparatus
SE402540B (sv) * 1976-08-13 1978-07-10 Asea Ab Forfarande och anordning for att vid en givarstyrd industrirobot astadkomma en approximativ transformation mellan givarens och robotarmens olika koordinatsystem for styrning av roboten inom ett forutbestemt ...
US4086522A (en) * 1976-09-08 1978-04-25 Unimation, Inc. Computer assisted teaching arrangement for conveyor line operation
US4263538A (en) * 1977-05-30 1981-04-21 Societa Di Elettronica Per L'automazione Sepa S.P.A. Control system for an automatic machine
US4119212A (en) * 1977-07-18 1978-10-10 Western Electric Company, Inc. Monitoring the location of a robot hand
US4178632A (en) * 1978-03-06 1979-12-11 Cincinnati Milacron Inc. Method for controlling the operation of a computer operated robot arm
US4201937A (en) * 1978-04-07 1980-05-06 Unimation, Inc. Control apparatus for programmable manipulator
US4338672A (en) * 1978-04-20 1982-07-06 Unimation, Inc. Off-line teach assist apparatus and on-line control apparatus
US4258425A (en) * 1979-03-08 1981-03-24 A. O. Smith Corporation Self-programmed mechanical working apparatus
JPS55123701A (en) * 1979-03-15 1980-09-24 Fanuc Ltd Command generation system
JPS5745750A (en) * 1980-09-01 1982-03-15 Fanuc Ltd Transmission switching device having open line detecting function and industrial robot using said device
JPS5785674A (en) * 1980-11-17 1982-05-28 Komatsu Ltd Copying corrector for welding robot
JPS57113116A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113115A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
EP0062685B1 (de) * 1981-04-11 1985-04-03 Leifeld GmbH & Co. Verfahren zum Betreiben einer numerisch kontrollierten und gesteuerten Drückmaschine sowie Drückmaschine zur Durchführung dieses Verfahrens
US4444349A (en) * 1981-05-04 1984-04-24 Kulicke & Soffa Industries, Inc. Wire bonding apparatus
JPS58177287A (ja) * 1982-04-05 1983-10-17 株式会社日立製作所 ロボットの制御方法
CA1184273A (en) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Robot control apparatus
JPS5994111A (ja) * 1982-11-19 1984-05-30 Fanuc Ltd 機械現在位置領域判別方法
JPS5998520A (ja) * 1982-11-27 1984-06-06 Toshiba Mach Co Ltd 半導体気相成長装置
JPS59231607A (ja) * 1983-06-14 1984-12-26 Mitsubishi Electric Corp ロボツトの制御装置
US4549644A (en) * 1983-06-15 1985-10-29 General Electric Company Article accumulator and transfer system and method
JPS6020209A (ja) * 1983-07-14 1985-02-01 Matsushita Electric Ind Co Ltd ロボツトの補間制御方法
US4510683A (en) * 1983-10-27 1985-04-16 Sperry Corporation Force assembler apparatus for robots
JPS61238700A (ja) * 1985-04-15 1986-10-23 株式会社豊田自動織機製作所 中折れ式高所作業車のブ−ム駆動制御装置
KR900008539B1 (ko) * 1985-05-30 1990-11-24 마쯔시다덴기산교 가부시기가이샤 로보트의 연속경로 제어방법
US5257355A (en) * 1986-10-01 1993-10-26 Just Systems Corporation Method and apparatus for generating non-linearly interpolated data in a data stream
FR2622320B1 (fr) * 1987-10-27 1990-11-30 Thomson Semiconducteurs Operateur d'interpolation lineaire
USRE38427E1 (en) * 1987-10-27 2004-02-10 Stmicroelectronics S.A. Linear interpolation operator
US4965499A (en) * 1987-12-31 1990-10-23 Westinghouse Electric Corp Parametric path modeling for an optical automatic seam tracker and real time robotic control system
JP2512099B2 (ja) * 1988-08-24 1996-07-03 松下電器産業株式会社 ロボットの動作教示方法および制御装置
US5661287A (en) * 1995-04-28 1997-08-26 Breece Hill Technologies, Inc. Multi-purpose laser/optical sensor in a storage library subsystem
US5622470A (en) * 1995-04-28 1997-04-22 Breece Hill Technologies, Inc. Method and apparatus for adaptive cartridge retrieval and insertion in a storage library subsystem
US6185480B1 (en) * 1995-06-13 2001-02-06 Toyo Kohan Co., Ltd Interference preventing method for industrial robots
AT410291B (de) * 1997-08-18 2003-03-25 Walter Sticht Bewegungseinheit
JP2010511919A (ja) * 2005-03-23 2010-04-15 ハーコ カンパニーズ，インコーポレイテッド 許容差ベースの経路設計と制御の方法
US20070142966A1 (en) * 2005-12-20 2007-06-21 Khalid Mirza Process for moving a robot
US8240968B2 (en) * 2008-10-27 2012-08-14 Laibe Corporation Automated rod handling system
US9804593B1 (en) * 2014-12-12 2017-10-31 X Development Llc Methods and systems for teaching positions to components of devices
EA032970B1 (ru) * 2017-03-30 2019-08-30 Общество С Ограниченной Ответственностью "Белфин" Роботизированный технологический комплекс и способ управления этим комплексом

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL291454A (de) * 1959-12-24
US3661051A (en) * 1969-03-18 1972-05-09 Unimation Inc Programmed manipulator apparatus
US3589134A (en) * 1969-10-30 1971-06-29 Westinghouse Electric Corp Manipulator apparatus

Also Published As

Publication number Publication date
SE7409033L (de) 1975-01-10
IT1017026B (it) 1977-07-20
FR2236620A1 (de) 1975-02-07
FR2236620B1 (de) 1978-12-01
DE2433003A1 (de) 1975-01-30
GB1475548A (en) 1977-06-01
JPS5024686A (de) 1975-03-15
US3943343A (en) 1976-03-09

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