SE441708B - Anordning for feldetektering i en programmerbar manipulator - Google Patents
Anordning for feldetektering i en programmerbar manipulatorInfo
- Publication number
- SE441708B SE441708B SE7809775A SE7809775A SE441708B SE 441708 B SE441708 B SE 441708B SE 7809775 A SE7809775 A SE 7809775A SE 7809775 A SE7809775 A SE 7809775A SE 441708 B SE441708 B SE 441708B
- Authority
- SE
- Sweden
- Prior art keywords
- signal
- signals
- digital
- stage
- position signals
- Prior art date
Links
- 238000001514 detection method Methods 0.000 title description 24
- 230000004044 response Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims 2
- 230000033001 locomotion Effects 0.000 description 20
- 230000005540 biological transmission Effects 0.000 description 6
- 230000003252 repetitive effect Effects 0.000 description 6
- 230000007257 malfunction Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000003213 activating effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000002401 inhibitory effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003989 repetitive behavior Effects 0.000 description 1
- 208000013406 repetitive behavior Diseases 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
- G05B19/406—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 monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- 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
- G05B2219/34239—Multiplex for whole system
-
- 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
- G05B2219/42268—Safety, excess in error
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50008—Multiple, multi tool head, parallel machining
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50197—Signature analysis, store working conditions, compare with actual
Landscapes
- Engineering & 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)
- Control Of Position Or Direction (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US05/834,421 US4150326A (en) | 1977-09-19 | 1977-09-19 | Trajectory correlation and error detection method and apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| SE7809775L SE7809775L (sv) | 1979-03-20 |
| SE441708B true SE441708B (sv) | 1985-10-28 |
Family
ID=25266902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE7809775A SE441708B (sv) | 1977-09-19 | 1978-09-18 | Anordning for feldetektering i en programmerbar manipulator |
Country Status (6)
Families Citing this family (73)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2399056A1 (fr) * | 1977-07-29 | 1979-02-23 | Sagem | Perfectionnements aux machines-outils a commande numerique |
| JPS5918194B2 (ja) * | 1978-01-31 | 1984-04-25 | ファナック株式会社 | 工業用ロボット制御方法 |
| US4258425A (en) * | 1979-03-08 | 1981-03-24 | A. O. Smith Corporation | Self-programmed mechanical working apparatus |
| DE3066136D1 (en) * | 1979-05-14 | 1984-02-23 | Ballast Nedam Groep Nv | Method of determining the position of a tool of a dredger implement and dredger implement |
| US4420812A (en) * | 1979-09-14 | 1983-12-13 | Tokico, Ltd. | Teaching- playback robot |
| US4385358A (en) * | 1979-10-19 | 1983-05-24 | Tokico Ltd. | Robot |
| GB2075875B (en) * | 1980-03-27 | 1983-09-28 | Komatsu Mfg Co Ltd | Method and device for detecting tool abnormality in machine tools |
| DE3039400C2 (de) * | 1980-10-18 | 1984-10-04 | Ludwig Dr.-Ing. 7500 Karlsruhe Pietzsch | Verfahren zum Steuern von Handhabungssystemen und Handhabungssystem zur Durchführung dieses Verfahrens |
| JPS5773402A (en) * | 1980-10-23 | 1982-05-08 | Fanuc Ltd | Numerical control system |
| JPS57114340A (en) * | 1980-12-30 | 1982-07-16 | Fanuc Ltd | Thermal displacement compensation |
| JPS57113118A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
| JPS57113111A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
| JPS57113117A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
| US4433382A (en) * | 1981-07-20 | 1984-02-21 | Cincinnati Milacron Inc. | Apparatus for automatically adjusting the programmed location of a robot arm |
| JPS58163001A (ja) * | 1982-03-23 | 1983-09-27 | Toyoda Mach Works Ltd | 干渉チエツク機能を備えた数値制御装置 |
| US4581893A (en) * | 1982-04-19 | 1986-04-15 | Unimation, Inc. | Manipulator apparatus with energy efficient control |
| JPS58217294A (ja) * | 1982-06-07 | 1983-12-17 | 株式会社日立製作所 | 産業用ロボツトの安全装置 |
| CA1184273A (en) * | 1982-09-23 | 1985-03-19 | Kazuyoshi Yasukawa | Robot control apparatus |
| US4614944A (en) * | 1982-09-30 | 1986-09-30 | Teleplex Corporation | Telemetry system for distributed equipment controls and equipment monitors |
| US4604682A (en) * | 1982-09-30 | 1986-08-05 | Teleplex Corporation | Buffer system for interfacing an intermittently accessing data processor to an independently clocked communications system |
| US4604559A (en) * | 1983-02-15 | 1986-08-05 | Deep Ocean Engineering Incorporated | Apparatus and method for providing useful audio feedback to aid in the operation of remotely controlled powered manipulators |
| DE3312862A1 (de) * | 1983-04-09 | 1984-10-11 | Blohm + Voss Ag, 2000 Hamburg | Freiprogrammierbare, mehrachsige betaetigungsarmeinheit, insbesondere industrieroboter |
| DE3312939C2 (de) * | 1983-04-11 | 1985-04-25 | Blohm + Voss Ag, 2000 Hamburg | Steuervorrichtung für einen Industrie-Roboter mit mindestens einer Achse |
| US4484120A (en) * | 1983-04-13 | 1984-11-20 | Nordson Corporation | Auxiliary function command presequencing for a robot controller |
| JPS60169905A (ja) * | 1984-02-15 | 1985-09-03 | Hitachi Constr Mach Co Ltd | テイ−チングプレイバツク装置 |
| DE3533058A1 (de) * | 1984-09-22 | 1986-06-12 | Deutsche Gesellschaft für Wiederaufarbeitung von Kernbrennstoffen mbH, 3000 Hannover | Vorrichtung zum fernhantierten instandhalten von anlagenteilen in einer abgeschirmten kerntechnischen anlage |
| US4973215A (en) * | 1986-02-18 | 1990-11-27 | Robotics Research Corporation | Industrial robot with servo |
| US4825376A (en) * | 1986-04-17 | 1989-04-25 | Glasstech International L.P. | Controller for glass sheet processing system |
| JPS62256007A (ja) * | 1986-04-30 | 1987-11-07 | Mitsubishi Electric Corp | 故障診断装置 |
| US4942513A (en) * | 1987-05-25 | 1990-07-17 | Omron Tateisi Electronics Co. | Trouble diagnosis apparatus for controlled device |
| US5086401A (en) * | 1990-05-11 | 1992-02-04 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
| DE4030954C2 (de) * | 1990-09-29 | 1994-08-04 | Danfoss As | Verfahren zur Steuerung der Bewegung eines hydraulisch bewegbaren Arbeitsgeräts und Bahnsteuereinrichtung zur Durchführung des Verfahrens |
| US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
| US6788999B2 (en) | 1992-01-21 | 2004-09-07 | Sri International, Inc. | Surgical system |
| US6963792B1 (en) | 1992-01-21 | 2005-11-08 | Sri International | Surgical method |
| US5814038A (en) | 1995-06-07 | 1998-09-29 | Sri International | Surgical manipulator for a telerobotic system |
| US5649956A (en) * | 1995-06-07 | 1997-07-22 | Sri International | System and method for releasably holding a surgical instrument |
| US8944070B2 (en) | 1999-04-07 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Non-force reflecting method for providing tool force information to a user of a telesurgical system |
| US6424885B1 (en) * | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
| US20060178556A1 (en) | 2001-06-29 | 2006-08-10 | Intuitive Surgical, Inc. | Articulate and swapable endoscope for a surgical robot |
| US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
| WO2003092518A1 (en) * | 2002-05-02 | 2003-11-13 | Gmp Surgical Solutions, Inc. | Apparatus for positioning a medical instrument relative to a patient |
| US7386365B2 (en) * | 2004-05-04 | 2008-06-10 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
| CN100389730C (zh) | 2002-12-06 | 2008-05-28 | 直观外科手术公司 | 用于手术工具的柔性肘节 |
| DE102004026185A1 (de) * | 2004-05-28 | 2005-12-22 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters |
| US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
| JP2007098464A (ja) | 2005-10-07 | 2007-04-19 | Nissan Motor Co Ltd | レーザー加工ロボット制御装置、レーザー加工ロボット制御方法およびレーザー加工ロボット制御プログラム |
| US8054752B2 (en) * | 2005-12-22 | 2011-11-08 | Intuitive Surgical Operations, Inc. | Synchronous data communication |
| US8062211B2 (en) | 2006-06-13 | 2011-11-22 | Intuitive Surgical Operations, Inc. | Retrograde instrument |
| US20090192523A1 (en) | 2006-06-29 | 2009-07-30 | Intuitive Surgical, Inc. | Synthetic representation of a surgical instrument |
| US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
| US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
| US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| US12357400B2 (en) | 2006-06-29 | 2025-07-15 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
| US7849545B2 (en) * | 2006-11-14 | 2010-12-14 | Hill-Rom Industries Sa | Control system for hospital bed mattress |
| EP1967333A1 (en) * | 2007-03-09 | 2008-09-10 | Abb Research Ltd. | Detection of condition changes in an industrial robot system |
| US8620473B2 (en) | 2007-06-13 | 2013-12-31 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
| US9089256B2 (en) | 2008-06-27 | 2015-07-28 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
| US9469034B2 (en) | 2007-06-13 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Method and system for switching modes of a robotic system |
| US9084623B2 (en) | 2009-08-15 | 2015-07-21 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
| US9138129B2 (en) | 2007-06-13 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
| US12239396B2 (en) | 2008-06-27 | 2025-03-04 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
| US8864652B2 (en) | 2008-06-27 | 2014-10-21 | Intuitive Surgical Operations, Inc. | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip |
| US12266040B2 (en) | 2009-03-31 | 2025-04-01 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
| US8918211B2 (en) | 2010-02-12 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
| US9492927B2 (en) | 2009-08-15 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
| US8717181B2 (en) | 2010-07-29 | 2014-05-06 | Hill-Rom Services, Inc. | Bed exit alert silence with automatic re-enable |
| US10507066B2 (en) | 2013-02-15 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
| WO2015142956A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | Systems and methods for offscreen indication of instruments in a teleoperational medical system |
| EP2995242B1 (en) | 2014-09-11 | 2023-11-15 | Hill-Rom S.A.S. | Patient support apparatus |
| US9984766B1 (en) * | 2017-03-23 | 2018-05-29 | Arm Limited | Memory protection circuitry testing and memory scrubbing using memory built-in self-test |
| US12232744B2 (en) | 2019-07-15 | 2025-02-25 | Stryker Corporation | Robotic hand-held surgical instrument systems and methods |
| CN115464637B (zh) * | 2022-08-15 | 2025-06-17 | 国网河北省电力有限公司营销服务中心 | 机械手故障预警及分析方法、装置及终端设备 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3576979A (en) * | 1968-09-24 | 1971-05-04 | Allen Bradley Co | Motion monitor system |
| CA918789A (en) * | 1969-03-18 | 1973-01-09 | F. Engelberger Joseph | Programmed manipulator apparatus |
| US3744032A (en) * | 1971-07-15 | 1973-07-03 | Unimotion Inc | Stationary base programmed manipulator arrangement for continuously moving workpiece |
| GB1433868A (en) * | 1972-05-06 | 1976-04-28 | Herbert Ltd A | Automatic control systems for and methods of controlling machine tool apparatus |
| CH566587A5 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) * | 1973-03-08 | 1975-09-15 | Index Werke Kg Hahn & Tessky | |
| US3914675A (en) * | 1973-09-17 | 1975-10-21 | Gen Electric | Fault detector circuit for electric vehicle control |
| US3987283A (en) * | 1975-07-07 | 1976-10-19 | Moeller Charles R | Digital controller for punch presses and the like |
-
1977
- 1977-09-19 US US05/834,421 patent/US4150326A/en not_active Expired - Lifetime
-
1978
- 1978-09-15 DE DE19782840341 patent/DE2840341A1/de active Granted
- 1978-09-18 GB GB7837160A patent/GB2004668B/en not_active Expired
- 1978-09-18 SE SE7809775A patent/SE441708B/sv not_active IP Right Cessation
- 1978-09-19 IT IT51138/78A patent/IT1105957B/it active
- 1978-09-19 FR FR7826859A patent/FR2403599A1/fr active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| DE2840341C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) | 1987-12-03 |
| IT7851138A0 (it) | 1978-09-19 |
| US4150326A (en) | 1979-04-17 |
| IT1105957B (it) | 1985-11-11 |
| GB2004668A (en) | 1979-04-04 |
| DE2840341A1 (de) | 1979-04-05 |
| SE7809775L (sv) | 1979-03-20 |
| GB2004668B (en) | 1982-04-21 |
| FR2403599B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) | 1984-01-27 |
| FR2403599A1 (fr) | 1979-04-13 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| NUG | Patent has lapsed |
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