SE443530B - Anordning for programmering av en hanteringsapparat - Google Patents

Anordning for programmering av en hanteringsapparat

Info

Publication number
SE443530B
SE443530B SE7907758A SE7907758A SE443530B SE 443530 B SE443530 B SE 443530B SE 7907758 A SE7907758 A SE 7907758A SE 7907758 A SE7907758 A SE 7907758A SE 443530 B SE443530 B SE 443530B
Authority
SE
Sweden
Prior art keywords
measured value
axis
intermediate part
pair
sensors
Prior art date
Application number
SE7907758A
Other languages
English (en)
Swedish (sv)
Other versions
SE7907758L (sv
Inventor
H Richter
Original Assignee
Schlatter Ag
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 Schlatter Ag filed Critical Schlatter Ag
Publication of SE7907758L publication Critical patent/SE7907758L/xx
Publication of SE443530B publication Critical patent/SE443530B/sv

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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2239/00—Miscellaneous
    • H01H2239/052—Strain gauge

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
SE7907758A 1978-09-22 1979-09-19 Anordning for programmering av en hanteringsapparat SE443530B (sv)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2841284A DE2841284C2 (de) 1978-09-22 1978-09-22 Vorrichtung zum Programmieren eines Handhabungsgeräts
DE7828226U DE7828226U1 (de) 1978-09-22 1978-09-22

Publications (2)

Publication Number Publication Date
SE7907758L SE7907758L (sv) 1980-03-23
SE443530B true SE443530B (sv) 1986-03-03

Family

ID=25775802

Family Applications (1)

Application Number Title Priority Date Filing Date
SE7907758A SE443530B (sv) 1978-09-22 1979-09-19 Anordning for programmering av en hanteringsapparat

Country Status (10)

Country Link
US (1) USRE31581E (de)
JP (1) JPS5547521A (de)
AT (1) AT365503B (de)
CA (1) CA1139404A (de)
CH (1) CH639310A5 (de)
DE (2) DE7828226U1 (de)
FR (1) FR2436655A1 (de)
GB (1) GB2036376B (de)
NL (1) NL189595C (de)
SE (1) SE443530B (de)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
JPS5878205A (ja) * 1981-11-02 1983-05-11 Kobe Steel Ltd 工業用ロボツトのテイ−チング方法
DE3211992A1 (de) * 1982-03-31 1983-10-06 Wagner Gmbh J Verfahren und vorrichtung zum programmieren eines roboters, insbesondere farbspritzroboters
JPS5914484A (ja) * 1982-07-09 1984-01-25 株式会社日立製作所 ロボツトの直接テイ−チ装置
DE3372942D1 (en) * 1982-09-25 1987-09-17 Fujitsu Ltd A multi-articulated robot
DE3240251A1 (de) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
EP0117334A3 (de) * 1982-11-09 1986-01-15 EMI Limited Für mehrere Kraftkomponenten empfindliche Vorrichtung
JPS59108691A (ja) * 1982-12-13 1984-06-23 株式会社日立製作所 バランサ制御方式
JPS59124589A (ja) * 1982-12-28 1984-07-18 株式会社東芝 産業用ロボツト
JP2650889B2 (ja) * 1983-04-28 1997-09-10 株式会社日立製作所 関節形ロボットの教示方法
DE8434357U1 (de) * 1984-11-23 1985-04-04 Richter, Hans, 8900 Augsburg Greiferhand bei einem manipulator
GB2174216B (en) * 1985-03-19 1988-10-26 Mitutoyo Mfg Co Ltd Method of operating a coordinate measuring instrument
DE3526958A1 (de) * 1985-07-27 1985-12-19 Daimler-Benz Ag, 7000 Stuttgart Im teach-in-verfahren programmierbarer lackierroboter
JP2728392B2 (ja) * 1986-06-11 1998-03-18 株式会社日立製作所 ハンドル制御装置
US4982611A (en) * 1988-05-24 1991-01-08 Wisconsin Alumni Research Foundation Multiple-degree-of-freedom sensor tip for a robotic gripper
US5010773A (en) * 1990-01-24 1991-04-30 Wisconsin Alumni Research Foundation Sensor tip for a robotic gripper and method of manufacture
DE9001451U1 (de) * 1990-02-08 1991-06-06 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De
DE69223854T2 (de) * 1991-06-14 1998-05-20 Honeywell Inc Proportionalmodus - Handsteuerung mit Kraftrückkopplung
CA2522097C (en) 2003-04-28 2012-09-25 Stephen James Crampton Cmm arm with exoskeleton
KR101289370B1 (ko) 2008-09-30 2013-07-29 도쿠리츠교세이호징 붓시쯔 자이료 겐큐키코 금속재의 용접 장치 및 금속재의 용접 방법
CN104647357A (zh) * 2015-01-09 2015-05-27 广西大学 一种四自由度步进电机驱动关节型机械手
CA2974996C (en) 2015-02-02 2023-02-28 The University Of Western Ontario Navigation by bending forces
DE102015214170A1 (de) * 2015-07-27 2017-02-02 Kuka Roboter Gmbh Roboter mit einer Kraftmesseinrichtung
DE102015117213B4 (de) 2015-10-08 2020-10-29 Kastanienbaum GmbH Roboterarm
JP7420543B2 (ja) * 2019-12-13 2024-01-23 川崎重工業株式会社 遠隔操縦装置

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US344766A (en) * 1886-06-29 Grate
FR1038409A (fr) * 1951-06-14 1953-09-28 M Le Secretaire D Etat Aux For Poignée dynamométrique pour manche à balai de pilotage des aérodynes
US3434342A (en) * 1965-12-06 1969-03-25 Lear Siegler Inc Force sensing apparatus
US3493906A (en) * 1969-02-19 1970-02-03 Lear Siegler Inc Control wheel force sensor
US3648143A (en) * 1969-08-25 1972-03-07 Harper Associates Inc Automatic work-repeating mechanism
US3676818A (en) * 1971-05-10 1972-07-11 Sperry Rand Corp Control stick transducer
US3835702A (en) * 1973-09-13 1974-09-17 Us Air Force Multi-axis bio-mechanical force measuring device
US3951271A (en) * 1974-05-03 1976-04-20 Mette Klaus Hermann Robot control device
US3939704A (en) * 1974-08-07 1976-02-24 The Bendix Corporation Multi-axis load cell
FR2311630A1 (fr) * 1975-05-23 1976-12-17 Kobe Steel Ltd Procede et appareil d'apprentissage pour robot industriel
SE416452B (sv) * 1975-06-16 1981-01-05 Asea Ab Industrirobot
DE2731041C3 (de) * 1976-07-09 1981-04-02 Régie Nationale des Usines Renault, Boulogne-Billancourt, Hauts-de-Seine Programmiervorrichtung für eine programmgesteuerten Anstrichmanipulator
CA1080828A (en) * 1976-07-26 1980-07-01 Bendix Corporation (The) Method and apparatus for generating position or path control programs using force feedback
FR2369055A1 (fr) * 1976-10-29 1978-05-26 Creusot Loire Dis
CA1121888A (en) * 1977-04-30 1982-04-13 Junichi Ikeda Industrial robot
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming

Also Published As

Publication number Publication date
CH639310A5 (de) 1983-11-15
USRE31581E (en) 1984-05-08
NL189595B (nl) 1993-01-04
GB2036376A (en) 1980-06-25
NL189595C (nl) 1993-06-01
CA1139404A (en) 1983-01-11
DE7828226U1 (de) 1987-01-02
GB2036376B (en) 1982-12-15
JPS6411430B2 (de) 1989-02-23
SE7907758L (sv) 1980-03-23
DE2841284C2 (de) 1982-04-15
FR2436655B1 (de) 1984-07-20
NL7906827A (nl) 1980-03-25
DE2841284A1 (de) 1980-04-03
ATA608979A (de) 1981-06-15
FR2436655A1 (fr) 1980-04-18
JPS5547521A (en) 1980-04-04
AT365503B (de) 1982-01-25

Similar Documents

Publication Publication Date Title
SE443530B (sv) Anordning for programmering av en hanteringsapparat
US4298308A (en) Apparatus for detecting forces directing the movement of a manipulating instrument
US4575297A (en) Assembly robot
US4216467A (en) Hand controller
US4777818A (en) Coordinate positioning apparatus
US4653793A (en) Multiple point contact gripper
US5854622A (en) Joystick apparatus for measuring handle movement with six degrees of freedom
CN103199793B (zh) 伺服控制装置及其控制方法
CN108369406A (zh) 用于控制工业机器人的铰接臂运动的方法、控制系统和运动设置器件
US20200147787A1 (en) Working robot and control method for working robot
US4348634A (en) Manual control means for controlling the movements of a motor-driven element
JP2010089257A (ja) 産業用ロボットのティーチングのための方法及びそれに対応して装備された産業用ロボット
US2754505A (en) Tactile control indicator
CN102152314A (zh) 触感装置中的夹持力反馈系统
JPH11231925A (ja) ダイレクトティーチング用ロボットの手先
CN112057172B (zh) 一种微创手术机器人
CA1080828A (en) Method and apparatus for generating position or path control programs using force feedback
CN104760044B (zh) 一种无动力关节臂式示教器及其在工业机器人中的应用
CN204525481U (zh) 一种无动力关节臂式示教器
CN110231010A (zh) 一种基于Delta并联机构的三坐标测量机及测量方法
DE102012002786B4 (de) Manipulatorsystem und Verfahren zum Betreiben eines Manipulatorsystems
JP2557735B2 (ja) 多軸ジョイスティック
CN216148190U (zh) 手术装置
CN108210075A (zh) 一种外科机器人远程力反馈操作手柄
JPS6114442B2 (de)