SE516720C2 - Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse - Google Patents

Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse

Info

Publication number
SE516720C2
SE516720C2 SE9901215A SE9901215A SE516720C2 SE 516720 C2 SE516720 C2 SE 516720C2 SE 9901215 A SE9901215 A SE 9901215A SE 9901215 A SE9901215 A SE 9901215A SE 516720 C2 SE516720 C2 SE 516720C2
Authority
SE
Sweden
Prior art keywords
torque
robot
operator
servo
equipment according
Prior art date
Application number
SE9901215A
Other languages
English (en)
Swedish (sv)
Other versions
SE9901215D0 (sv
SE9901215L (sv
Inventor
Karl-Gustav Ramstroem
Torgny Brogaardh
Original Assignee
Abb Ab
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 Abb Ab filed Critical Abb Ab
Priority to SE9901215A priority Critical patent/SE516720C2/sv
Publication of SE9901215D0 publication Critical patent/SE9901215D0/xx
Priority to AU41612/00A priority patent/AU4161200A/en
Priority to US09/937,400 priority patent/US6477445B1/en
Priority to DE60016190T priority patent/DE60016190T2/de
Priority to JP2000609855A priority patent/JP2002540971A/ja
Priority to PCT/SE2000/000640 priority patent/WO2000060427A1/en
Priority to AT00921279T priority patent/ATE283511T1/de
Priority to EP00921279A priority patent/EP1173801B1/de
Publication of SE9901215L publication Critical patent/SE9901215L/
Publication of SE516720C2 publication Critical patent/SE516720C2/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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
SE9901215A 1999-04-01 1999-04-01 Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse SE516720C2 (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE9901215A SE516720C2 (sv) 1999-04-01 1999-04-01 Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse
AU41612/00A AU4161200A (en) 1999-04-01 2000-04-03 Equipment for controlling an industrial robot and a method for programming and/or adjusting the movements of the robot
US09/937,400 US6477445B1 (en) 1999-04-01 2000-04-03 Method and apparatus for controlling an industrial robot
DE60016190T DE60016190T2 (de) 1999-04-01 2000-04-03 Vorrichtung und steuerung eines industriellen robotors und verfahren zur programmierung und/ oder einstellung der bewegungen des robotors
JP2000609855A JP2002540971A (ja) 1999-04-01 2000-04-03 工業用ロボットを制御するための装置および上記ロボットの動きをプログラミングおよび／または調整する方法
PCT/SE2000/000640 WO2000060427A1 (en) 1999-04-01 2000-04-03 Equipment for controlling an industrial robot and a method for programming and/or adjusting the movements of the robot
AT00921279T ATE283511T1 (de) 1999-04-01 2000-04-03 Vorrichtung und steuerung eines industriellen robotors und verfahren zur programmierung und/ oder einstellung der bewegungen des robotors
EP00921279A EP1173801B1 (de) 1999-04-01 2000-04-03 Vorrichtung und steuerung eines industriellen robotors und verfahren zur programmierung und/ oder einstellung der bewegungen des robotors

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9901215A SE516720C2 (sv) 1999-04-01 1999-04-01 Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse

Publications (3)

Publication Number Publication Date
SE9901215D0 SE9901215D0 (sv) 1999-04-01
SE9901215L SE9901215L (sv) 2000-10-02
SE516720C2 true SE516720C2 (sv) 2002-02-19

Family

ID=20415110

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9901215A SE516720C2 (sv) 1999-04-01 1999-04-01 Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse

Country Status (8)

Country Link
US (1) US6477445B1 (de)
EP (1) EP1173801B1 (de)
JP (1) JP2002540971A (de)
AT (1) ATE283511T1 (de)
AU (1) AU4161200A (de)
DE (1) DE60016190T2 (de)
SE (1) SE516720C2 (de)
WO (1) WO2000060427A1 (de)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003311665A (ja) * 2002-04-17 2003-11-05 Yaskawa Electric Corp ロボットシステム及び制御装置
SE0301531L (sv) * 2003-05-22 2004-11-23 Abb Ab A Control method for a robot
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
WO2006011203A1 (ja) * 2004-07-29 2006-02-02 Mitsubishi Denki Kabushiki Kaisha 位置制御装置及びその制御方法
WO2006035259A1 (en) * 2004-09-30 2006-04-06 Abb As Door opener arrangement for use with an industrial robot
DE102006053158A1 (de) * 2006-11-10 2008-05-15 Kuka Roboter Gmbh Robotersteuerung, Roboter und Verfahren zum Steuern eines Roboters
DE102007024143A1 (de) * 2007-05-24 2008-11-27 Dürr Systems GmbH Bewegungssteuerung für elastische Roboterstrukturen
JP4445038B2 (ja) * 2008-02-06 2010-04-07 パナソニック株式会社 ロボット、ロボットの制御装置及び制御方法、並びに、ロボットの制御装置の制御プログラム
DE102008054501A1 (de) * 2008-12-10 2010-06-17 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Betreiben eines Industrieroboters
EP2864082B1 (de) 2012-06-26 2018-11-07 ABB Schweiz AG Einstellung von parametern eines dynamischen robotermodells
JP6138450B2 (ja) * 2012-10-10 2017-05-31 三菱重工業株式会社 ピーニング装置及びピーニング方法
DE102013218823A1 (de) * 2013-09-19 2015-04-02 Kuka Laboratories Gmbh Verfahren zum manuell geführten Verstellen der Pose eines Manipulatorarms eines Industrieroboters und zugehöriger Industrieroboter
WO2015090324A1 (en) 2013-12-17 2015-06-25 Syddansk Universitet Device for dynamic switching of robot control points
US10150214B2 (en) 2015-03-31 2018-12-11 Abb Schweiz Ag Method for controlling an industrial robot by touch
TWI642523B (zh) * 2017-09-21 2018-12-01 上銀科技股份有限公司 用於機械臂之負載估測重力補償的方法及其負載估測重力補償系統
DE102018128175A1 (de) * 2018-11-12 2020-05-14 Technische Universität Darmstadt Verfahren und Vorrichtung zur Ermittlung von Verlagerungen eines Werkzeugmittelpunktes
CN113924195A (zh) * 2019-05-29 2022-01-11 优傲机器人公司 多用途机器人臂的控制
JP7193206B2 (ja) * 2019-06-14 2022-12-20 アズビル株式会社 直接教示装置及び直接教示方法
CN113189865B (zh) * 2021-01-27 2024-03-26 上海际知医疗科技有限公司 基于动力学参数辨识的康复机器人控制系统

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5745602A (en) * 1980-09-01 1982-03-15 Fanuc Ltd Control system for industrial robot
JPS57189217A (en) * 1981-05-18 1982-11-20 Nec Corp Positioning controller
JPS5932012A (ja) * 1982-08-17 1984-02-21 Sumitomo Electric Ind Ltd 位置決めサ−ボ方式
US4463297A (en) * 1982-10-05 1984-07-31 Westinghouse Electric Corp. Controller for mechanically actuated device
US4500823A (en) * 1983-02-25 1985-02-19 Westinghouse Electric Corp. Electro-optical tracking system with adaptive bearing friction compensation
CA1233222A (en) * 1984-03-09 1988-02-23 Nobuhiko Onda Movable apparatus driving system
US4540923A (en) * 1984-05-14 1985-09-10 General Motors Corporation Adaptive servomotor controller
US4612489A (en) * 1984-12-20 1986-09-16 Vickers, Incorporated Power transmission
US4727303A (en) 1986-05-22 1988-02-23 Gmf Robotics Corporation Positional control method and system utilizing same
AU7960291A (en) * 1990-08-20 1992-03-17 Caterpillar Inc. Apparatus and method for using force feedback to teach a robot
JPH04112690A (ja) * 1990-09-03 1992-04-14 Fanuc Ltd サーボモータの制御方式
CN1060715C (zh) * 1995-09-14 2001-01-17 株式会社安川电机 机器人的示教装置
JP3465253B2 (ja) * 1995-09-20 2003-11-10 株式会社安川電機 ロボットの直接教示装置
SE504601C2 (sv) 1995-09-22 1997-03-17 Alfa Laval Automation Ab Förfarande samt reglersystem för friktionskomepensation
JP2776477B2 (ja) * 1996-02-13 1998-07-16 川崎重工業株式会社 ロボット３次元位置姿勢教示システム
IL120889A (en) * 1997-05-22 1998-10-30 Eshed Robotec 1982 Ltd Method and facility for direct learning of vending machines

Also Published As

Publication number Publication date
DE60016190T2 (de) 2005-12-22
SE9901215D0 (sv) 1999-04-01
EP1173801A1 (de) 2002-01-23
WO2000060427A1 (en) 2000-10-12
EP1173801B1 (de) 2004-11-24
AU4161200A (en) 2000-10-23
DE60016190D1 (de) 2004-12-30
SE9901215L (sv) 2000-10-02
US6477445B1 (en) 2002-11-05
JP2002540971A (ja) 2002-12-03
ATE283511T1 (de) 2004-12-15

Similar Documents

Publication Publication Date Title
SE516720C2 (sv) Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse
CN107683190B (zh) 用于进行机器人机械手的开环和闭环控制的装置和方法
JP5695223B2 (ja) ロボット、ロボットの制御装置、制御方法、及び制御プログラム
EP0129245B1 (de) Verfahren und Vorrichtung zum Steuern eines Roboters
JP6008121B2 (ja) ロボットおよびロボット制御装置
US20220105628A1 (en) Obtaining the gear stiffness of a robot joint gear of a robot arm
US8406921B2 (en) Method and device for controlling a manipulator
Campeau-Lecours et al. A cable-suspended intelligent crane assist device for the intuitive manipulation of large payloads
CN102348541B (zh) 机器人设备及其控制方法
US20220088804A1 (en) Method for determining a weight and a center of gravity of a robot manipulator load
SE1251196A1 (sv) Metod och system för bestämning av minst en egenskap hos enmanipulator
JP6044511B2 (ja) ロボットの制御方法及びロボットシステム
US20220410388A1 (en) Method for compensating for friction of multi-degree-of-freedom cooperative robot
KR102170591B1 (ko) 다자유도 협동 로봇의 마찰 보상 방법
CN111376267A (zh) 工业用机器人系统
EP0464649B1 (de) Robotersteuerung mit Inertialkoordinatensystem
US5091683A (en) Servo control apparatus
KR20220145387A (ko) 로봇 장치
JP4842561B2 (ja) 力覚コントローラ装置
CN110871456B (zh) 机器人
Desai et al. Towards the development of a humanoid arm by minimizing interaction forces through minimum impedance control
CN114211503B (zh) 基于视觉反馈的绳驱柔性机器人轨迹控制方法及系统
Lendermann et al. Comparison of passivity based impedance controllers without torque-feedback for variable stiffness actuators
Saied et al. Actuator and friction dynamics formulation in control of pkms: From design to real-time experiments
Lee et al. Contact-consistent disturbance observer for floating-base robots

Legal Events

Date Code Title Description
NUG Patent has lapsed