SE509443C2 - Förfarande för övervakning av en manipulators rörelsestyrning - Google Patents

Förfarande för övervakning av en manipulators rörelsestyrning

Info

Publication number
SE509443C2
SE509443C2 SE9701796A SE9701796A SE509443C2 SE 509443 C2 SE509443 C2 SE 509443C2 SE 9701796 A SE9701796 A SE 9701796A SE 9701796 A SE9701796 A SE 9701796A SE 509443 C2 SE509443 C2 SE 509443C2
Authority
SE
Sweden
Prior art keywords
alarm
calculated
servo
acceleration
torque
Prior art date
Application number
SE9701796A
Other languages
English (en)
Swedish (sv)
Other versions
SE9701796D0 (sv
SE9701796L (sv
Inventor
Torgny Brogaardh
Staffan Elfving
Ingvar Jonsson
Stig Moberg
Fredrik Skantze
Original Assignee
Asea Brown Boveri
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 Asea Brown Boveri filed Critical Asea Brown Boveri
Priority to SE9701796A priority Critical patent/SE509443C2/sv
Publication of SE9701796D0 publication Critical patent/SE9701796D0/xx
Priority to JP54914398A priority patent/JP2001524884A/ja
Priority to DE69829559T priority patent/DE69829559T2/de
Priority to EP98923260A priority patent/EP0981424B1/de
Priority to AU75594/98A priority patent/AU7559498A/en
Priority to PCT/SE1998/000877 priority patent/WO1998051453A1/en
Priority to US09/403,612 priority patent/US6218801B1/en
Publication of SE9701796L publication Critical patent/SE9701796L/xx
Publication of SE509443C2 publication Critical patent/SE509443C2/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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39178—Compensation inertia arms
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39187—Coriolis and centripetal compensation
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39194—Compensation gravity
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39237—Torque disturbance control
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40226—Input control signals to control system and to model, compare their outputs
    • 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
    • G05B2219/42307—Compare actual feedback with predicted, simulated value to detect run away

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
SE9701796A 1997-05-15 1997-05-15 Förfarande för övervakning av en manipulators rörelsestyrning SE509443C2 (sv)

Priority Applications (7)

Application Number Priority Date Filing Date Title
SE9701796A SE509443C2 (sv) 1997-05-15 1997-05-15 Förfarande för övervakning av en manipulators rörelsestyrning
JP54914398A JP2001524884A (ja) 1997-05-15 1998-05-13 マニピュレータの運動制御を監視する方法
DE69829559T DE69829559T2 (de) 1997-05-15 1998-05-13 Verfahren zur überwachung der steuerung der bewegung eines manipulators
EP98923260A EP0981424B1 (de) 1997-05-15 1998-05-13 Verfahren zur überwachung der steuerung der bewegung eines manipulators
AU75594/98A AU7559498A (en) 1997-05-15 1998-05-13 A method for supervision of the movement control of a manipulator
PCT/SE1998/000877 WO1998051453A1 (en) 1997-05-15 1998-05-13 A method for supervision of the movement control of a manipulator
US09/403,612 US6218801B1 (en) 1997-05-15 1998-05-13 Method for supervision of the movement control of a manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9701796A SE509443C2 (sv) 1997-05-15 1997-05-15 Förfarande för övervakning av en manipulators rörelsestyrning

Publications (3)

Publication Number Publication Date
SE9701796D0 SE9701796D0 (sv) 1997-05-15
SE9701796L SE9701796L (sv) 1998-11-16
SE509443C2 true SE509443C2 (sv) 1999-01-25

Family

ID=20406938

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9701796A SE509443C2 (sv) 1997-05-15 1997-05-15 Förfarande för övervakning av en manipulators rörelsestyrning

Country Status (7)

Country Link
US (1) US6218801B1 (de)
EP (1) EP0981424B1 (de)
JP (1) JP2001524884A (de)
AU (1) AU7559498A (de)
DE (1) DE69829559T2 (de)
SE (1) SE509443C2 (de)
WO (1) WO1998051453A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000036904A1 (en) * 1998-12-22 2000-06-29 Jan Sandberg Device for the cleaning of animal stalls

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US6940248B2 (en) * 1996-07-05 2005-09-06 Bose Corporation Motion controlling
NL1010068C2 (nl) * 1998-09-11 2000-03-15 Skf Eng & Res Centre Bv Werkwijze en inrichting voor het bekrachtigen van rotatie-translatieomzetters.
EP1183579B1 (de) * 1999-05-19 2004-10-06 Robert Bosch Gmbh Regelungssystem mit modellgestützter sicherheitsüberwachung eines elektronisch geregelten stellers im kraftfahrzeug
US6453331B1 (en) * 1999-07-30 2002-09-17 Seagate Technology Llc Method and system for filtering force constant table for accurate torque modeling
DE10125445A1 (de) * 2001-05-25 2002-12-05 Kuka Roboter Gmbh Verfahren zum Steuern der Bewegung eines Roboters
DE10245594A1 (de) * 2002-09-30 2004-04-08 Dürr Systems GmbH Verfahren zur Kollisionserkennung
EP1652634B1 (de) * 2003-07-29 2011-12-28 Panasonic Corporation Roboterarmsteuerverfahren und -steuervorrichtung
DE10360530A1 (de) * 2003-12-22 2005-03-10 Siemens Ag Virtuelle Inbetriebnahme einer Maschine
JP4112594B2 (ja) * 2006-07-27 2008-07-02 ファナック株式会社 減速機異常診断方法及び減速機異常診断装置
DE102007024143A1 (de) 2007-05-24 2008-11-27 Dürr Systems GmbH Bewegungssteuerung für elastische Roboterstrukturen
JP4955791B2 (ja) * 2010-04-20 2012-06-20 ファナック株式会社 ロボットシステム
DE102010044644B4 (de) 2010-09-07 2018-12-27 Robert Bosch Gmbh Verfahren zur Kollisionserkennung für eine Antriebseinheit
CN104321167B (zh) * 2012-06-26 2016-09-14 Abb技术有限公司 调节动态机器人模型的参数
US9041336B2 (en) * 2012-11-19 2015-05-26 Persimmon Technologies, Corp. Robot having repeatable disturbance compensation algorithm
CN106457569B (zh) * 2014-04-10 2019-03-12 宽射咨询公司 机器人系统及操作机器人系统的方法
JP6017595B2 (ja) * 2015-01-16 2016-11-02 ファナック株式会社 振動を抑制するモータ制御装置
DK3277467T3 (da) 2015-03-31 2020-07-27 Abb Schweiz Ag Fremgangsmåde til at styre en industrirobot ved berøring
BR112017024895B1 (pt) * 2015-05-21 2021-06-08 Nissan Motor Co., Ltd. dispositivo de diagnóstico de falha e método de diagnóstico de falha
DE102015009892A1 (de) * 2015-07-30 2017-02-02 Kuka Roboter Gmbh Verfahren und System zum Steuern eines Roboters
WO2019220719A1 (ja) * 2018-05-16 2019-11-21 パナソニックＩｐマネジメント株式会社 エンコーダの異常検出方法、作動制御装置、ロボット及びロボットシステム
JP7199178B2 (ja) * 2018-08-28 2023-01-05 株式会社東芝 ロボット制御装置、ロボット装置、ロボット制御のパラメータ調整方法、およびプログラム

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US4305028A (en) * 1980-04-04 1981-12-08 Nordson Corporation System for evaluating the capability of a work-performing robot to reproduce a programmed series of motions
US4547858A (en) 1983-06-13 1985-10-15 Allied Corporation Dynamic control for manipulator
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
EP0262600B1 (de) * 1986-09-29 1992-11-25 Asea Ab Verfahren und Vorrichtung zur optimalen Parameterregelung von Reglern, die rotierende und/oder lineare Bewegungen eines Industrieroboters steuern
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
US4912753A (en) * 1988-04-04 1990-03-27 Hughes Aircraft Company Robot axis controller employing feedback and open loop (feedforward) control
US5049796A (en) * 1989-05-17 1991-09-17 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Robust high-performance control for robotic manipulators
JPH0683403A (ja) 1992-07-17 1994-03-25 Fanuc Ltd 適応ｐｉ制御方式
DE19508474A1 (de) * 1995-03-09 1996-09-19 Siemens Ag Intelligentes Rechner-Leitsystem
JPH10133703A (ja) * 1996-10-31 1998-05-22 Fujitsu Ltd 適応的ロバスト制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000036904A1 (en) * 1998-12-22 2000-06-29 Jan Sandberg Device for the cleaning of animal stalls

Also Published As

Publication number Publication date
DE69829559D1 (de) 2005-05-04
EP0981424A1 (de) 2000-03-01
WO1998051453A1 (en) 1998-11-19
AU7559498A (en) 1998-12-08
DE69829559T2 (de) 2005-08-18
SE9701796D0 (sv) 1997-05-15
JP2001524884A (ja) 2001-12-04
US6218801B1 (en) 2001-04-17
EP0981424B1 (de) 2005-03-30
SE9701796L (sv) 1998-11-16

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