SE401637B - Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse - Google Patents
Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelseInfo
- Publication number
- SE401637B SE401637B SE7603738A SE7603738A SE401637B SE 401637 B SE401637 B SE 401637B SE 7603738 A SE7603738 A SE 7603738A SE 7603738 A SE7603738 A SE 7603738A SE 401637 B SE401637 B SE 401637B
- Authority
- SE
- Sweden
- Prior art keywords
- bringing
- procedure
- carry out
- industrial robot
- complex movement
- Prior art date
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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
- G05B19/25—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control
- G05B19/251—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/253—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
-
- 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
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34034—Multiplier, prm, brm
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36497—Select program, main and secondary program
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE7603738A SE401637B (sv) | 1976-03-29 | 1976-03-29 | Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse |
DE2712169A DE2712169C2 (de) | 1976-03-29 | 1977-03-19 | Verfahren zur Ausführung einer komplexen Bewegung durch einen Industrieroboter |
US05/780,726 US4150329A (en) | 1976-03-29 | 1977-03-24 | Method and means in an industrial robot for the generation of a complex movement |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE7603738A SE401637B (sv) | 1976-03-29 | 1976-03-29 | Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse |
Publications (2)
Publication Number | Publication Date |
---|---|
SE7603738L SE7603738L (sv) | 1977-09-30 |
SE401637B true SE401637B (sv) | 1978-05-22 |
Family
ID=20327420
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE7603738A SE401637B (sv) | 1976-03-29 | 1976-03-29 | Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse |
Country Status (3)
Country | Link |
---|---|
US (1) | US4150329A (sv) |
DE (1) | DE2712169C2 (sv) |
SE (1) | SE401637B (sv) |
Families Citing this family (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 ... |
US4224501A (en) * | 1978-02-27 | 1980-09-23 | Unimation, Inc. | Teaching arrangement for programmable manipulator |
US4221997A (en) * | 1978-12-18 | 1980-09-09 | Western Electric Company, Incorporated | Articulated robot arm and method of moving same |
US4538233A (en) * | 1982-10-19 | 1985-08-27 | Cincinnati Milacron Inc. | Apparatus and method for oscillatory motion control |
US4677276A (en) * | 1982-11-23 | 1987-06-30 | Yaskawa Electric Mfg. Co., Ltd. | Method of welding robot control which controls the three basic axes of a robot to provide a repetition of a weaving pattern along a robot locus |
JPH0664486B2 (ja) * | 1983-07-07 | 1994-08-22 | ファナック株式会社 | 3次元曲線作成方法 |
JPS6015711A (ja) * | 1983-07-07 | 1985-01-26 | Fanuc Ltd | 曲面生成方法 |
GB2146796B (en) * | 1983-08-31 | 1986-12-17 | Mitsubishi Electric Corp | Method for controlling an industrial robot to perform weaving-like motion and apparatus for practising the same |
FR2564359B1 (fr) * | 1984-05-15 | 1988-06-10 | Commissariat Energie Atomique | Dispositif de balayage d'un organe dans un plan perpendiculaire a sa direction d'avance |
JPS6178564A (ja) * | 1984-09-27 | 1986-04-22 | Fanuc Ltd | 自動溶接機における溶接制御方式 |
JPH0692029B2 (ja) * | 1987-03-20 | 1994-11-16 | ファナック株式会社 | ア−ク溶接ロボットの制御方法 |
JP2786225B2 (ja) * | 1989-02-01 | 1998-08-13 | 株式会社日立製作所 | 工業用ロボットの制御方法及び装置 |
DE8903454U1 (sv) * | 1989-03-20 | 1990-07-26 | Hermann Wangner Gmbh & Co Kg, 7410 Reutlingen, De | |
US5600759A (en) * | 1989-03-20 | 1997-02-04 | Fanuc Ltd. | Robot capable of generating patterns of movement path |
FR2682905B1 (fr) * | 1991-10-28 | 1995-12-01 | Commissariat Energie Atomique | Procede de generation de trajectoire pour un systeme robotise. |
JPH06320462A (ja) * | 1993-05-10 | 1994-11-22 | Fanuc Ltd | センサ付きロボットの制御方法 |
JPH11282517A (ja) * | 1998-03-12 | 1999-10-15 | Internatl Business Mach Corp <Ibm> | マルチプライアを利用したパルス制御の方法およびシステム |
US6064168A (en) * | 1998-03-13 | 2000-05-16 | Fanuc Robotics North America, Inc. | Method of controlling robot movement |
CA2514204C (en) * | 2003-01-31 | 2015-12-15 | Thermo Crs Ltd. | Syntactic inferential motion planning method for robotic systems |
US20060269652A1 (en) * | 2005-05-24 | 2006-11-30 | Husky Injection Molding Systems Ltd. | Article moving apparatus configured for molding machine |
JP5163092B2 (ja) * | 2007-02-14 | 2013-03-13 | セイコーエプソン株式会社 | インクジェットプリンタのリニアエンコーダ記録方法 |
AU2011283048B2 (en) | 2010-07-28 | 2016-02-11 | Medrobotics Corporation | Surgical positioning and support system |
CA2815396A1 (en) | 2010-10-22 | 2012-04-26 | Medrobotics Corporation | Highly articulated robotic probes and methods of production and use of such probes |
KR101786832B1 (ko) | 2010-11-11 | 2017-10-18 | 메드로보틱스 코포레이션 | 고도 다관절 로봇 프로브용 도입 장치 및 그 생산 방법 |
US9757856B2 (en) | 2011-09-13 | 2017-09-12 | Medrobotics Corporation | Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures |
US20130119032A1 (en) * | 2011-11-11 | 2013-05-16 | Lincoln Global, Inc. | System and method for welding materials of different conductivity |
WO2013096610A1 (en) | 2011-12-21 | 2013-06-27 | Oyola Arnold E | Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof |
WO2014026104A1 (en) | 2012-08-09 | 2014-02-13 | Castro Michael Salvatore | Surgical tool positioning systems |
CA2911151A1 (en) | 2013-05-02 | 2014-11-06 | Tom CALEF | A robotic system including a cable interface assembly |
EP3089696A4 (en) | 2013-12-30 | 2017-08-30 | Medrobotics Corporation | Articulated robotic probes |
DE102017211982B4 (de) * | 2017-07-13 | 2019-04-18 | Trumpf Laser- Und Systemtechnik Gmbh | Verfahren und Vorrichtung zum Fügen von mindestens zwei Werkstücken |
USD874655S1 (en) | 2018-01-05 | 2020-02-04 | Medrobotics Corporation | Positioning arm for articulating robotic surgical system |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3026040A (en) * | 1955-10-25 | 1962-03-20 | Emi Ltd | Automatic machine tools |
US3497780A (en) * | 1967-06-01 | 1970-02-24 | Superior Electric Co | Numerical control system with plural axes |
US3701888A (en) * | 1970-08-05 | 1972-10-31 | Bendix Corp | Time shared position feedback system for numerical control |
JPS5424156B1 (sv) * | 1971-02-03 | 1979-08-18 | ||
US3909600A (en) * | 1972-06-26 | 1975-09-30 | Cincinnati Milacron Inc | Method and apparatus for controlling an automation along a predetermined path |
US3864613A (en) * | 1972-12-29 | 1975-02-04 | Hymie Cutler | Path generating system for numerical control apparatus |
US3890552A (en) * | 1972-12-29 | 1975-06-17 | George C Devol | Dual-armed multi-axes program controlled manipulators |
-
1976
- 1976-03-29 SE SE7603738A patent/SE401637B/sv not_active IP Right Cessation
-
1977
- 1977-03-19 DE DE2712169A patent/DE2712169C2/de not_active Expired
- 1977-03-24 US US05/780,726 patent/US4150329A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
US4150329A (en) | 1979-04-17 |
DE2712169A1 (de) | 1977-10-13 |
SE7603738L (sv) | 1977-09-30 |
DE2712169C2 (de) | 1981-10-15 |
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