SE7609062L - Forfarande och anordning for styrning av industrirobot - Google Patents

Forfarande och anordning for styrning av industrirobot

Info

Publication number
SE7609062L
SE7609062L SE7609062A SE7609062A SE7609062L SE 7609062 L SE7609062 L SE 7609062L SE 7609062 A SE7609062 A SE 7609062A SE 7609062 A SE7609062 A SE 7609062A SE 7609062 L SE7609062 L SE 7609062L
Authority
SE
Sweden
Prior art keywords
robot
sensor
freedom
correction
degrees
Prior art date
Application number
SE7609062A
Other languages
English (en)
Other versions
SE402540B (sv
Inventor
L Dahlstrom
Original Assignee
Asea 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 Asea Ab filed Critical Asea Ab
Priority to SE7609062A priority Critical patent/SE402540B/sv
Priority to DE2735632A priority patent/DE2735632C2/de
Priority to US05/823,067 priority patent/US4166543A/en
Publication of SE7609062L publication Critical patent/SE7609062L/sv
Publication of SE402540B publication Critical patent/SE402540B/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
    • 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
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • G05B19/19—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
    • G05B19/258—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 a combination of feedback covered by G05B19/253 - G05B19/256
    • 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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • 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
    • G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
    • 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
    • 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
    • G05B2219/42337—Tracking control

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
SE7609062A 1976-08-13 1976-08-13 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 ... SE402540B (sv)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE7609062A SE402540B (sv) 1976-08-13 1976-08-13 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 ...
DE2735632A DE2735632C2 (de) 1976-08-13 1977-08-08 Verfahren und Anordnung zum Betrieb eines Industrie-Roboters
US05/823,067 US4166543A (en) 1976-08-13 1977-08-09 Method and means for controlling an industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE7609062A SE402540B (sv) 1976-08-13 1976-08-13 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 ...

Publications (2)

Publication Number Publication Date
SE7609062L true SE7609062L (sv) 1978-02-14
SE402540B SE402540B (sv) 1978-07-10

Family

ID=20328648

Family Applications (1)

Application Number Title Priority Date Filing Date
SE7609062A SE402540B (sv) 1976-08-13 1976-08-13 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 ...

Country Status (3)

Country Link
US (1) US4166543A (sv)
DE (1) DE2735632C2 (sv)
SE (1) SE402540B (sv)

Families Citing this family (42)

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Publication number Priority date Publication date Assignee Title
JPS5840761B2 (ja) * 1978-12-20 1983-09-07 工業技術院長 人間腕形マニピュレ−タの制御装置
US4255643A (en) * 1979-03-28 1981-03-10 C-R-O, Inc. Programmed welding machine with continuously monitored override control
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
JPS57113115A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113116A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57156183A (en) * 1981-03-20 1982-09-27 Hitachi Ltd Method and device for controlling course of robot
US4403281A (en) * 1981-04-03 1983-09-06 Cincinnati Milacron Industries, Inc. Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path
US4433382A (en) * 1981-07-20 1984-02-21 Cincinnati Milacron Inc. Apparatus for automatically adjusting the programmed location of a robot arm
US4432063A (en) * 1981-10-06 1984-02-14 Cincinnati Milacron Inc. Apparatus for automatically moving a robot arm along a nonprogrammed path
CA1184273A (en) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Robot control apparatus
US4603897A (en) * 1983-05-20 1986-08-05 Poconics International, Inc. Vacuum pickup apparatus
JPH065482B2 (ja) * 1983-06-22 1994-01-19 株式会社日立製作所 ロボット装置
US4674057A (en) * 1984-02-14 1987-06-16 Lockheed Corporation Ultrasonic ranging control system for industrial robots
CA1233222A (en) * 1984-03-09 1988-02-23 Nobuhiko Onda Movable apparatus driving system
US4718023A (en) * 1984-11-27 1988-01-05 Photo Acoustic Technology, Inc. Ultrasonic apparatus for positioning a robot hand
US4639591A (en) * 1984-12-31 1987-01-27 Westinghouse Electric Corp. System for optical monitoring of machine positions
DE3822835A1 (de) * 1988-07-06 1990-03-08 Josef Schucker Verfahren und anordnung zum lackieren von werkstueckoberflaechen
US5341459A (en) * 1991-05-09 1994-08-23 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Generalized compliant motion primitive
JP3274272B2 (ja) * 1994-03-08 2002-04-15 ファナック株式会社 座標系の手動送り方法並びにロボット制御装置
US5604715A (en) * 1994-06-21 1997-02-18 Aman; James A. Automated lumber unit trucking system
US5771748A (en) * 1996-01-26 1998-06-30 Genmark Automation Highly stable Z axis drive
US5839322A (en) * 1996-01-26 1998-11-24 Genmark Automation Robotic arm rotation controller
US5775170A (en) * 1996-01-26 1998-07-07 Genmark Automation Robotic arm motor stabilizer
US6121743A (en) * 1996-03-22 2000-09-19 Genmark Automation, Inc. Dual robotic arm end effectors having independent yaw motion
US5789890A (en) * 1996-03-22 1998-08-04 Genmark Automation Robot having multiple degrees of freedom
JPH1133945A (ja) * 1997-07-22 1999-02-09 Oki Electric Ind Co Ltd 直交型３軸ロボットの制御方法とその直交型３軸ロボット
US6489741B1 (en) 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
CA2272040A1 (fr) * 1999-05-13 2000-11-13 Ecole Polytechnique Systeme de camera d'observation robotisee pour utilisation en salle d'operation
DE10252901A1 (de) * 2002-11-12 2004-05-27 Siemens Ag Verfahren und System zum Materialtransport
US7415321B2 (en) * 2002-12-12 2008-08-19 Matsushita Electric Industrial Co., Ltd. Robot controller
US8447551B1 (en) * 2010-06-30 2013-05-21 Western Digital Technologies, Inc. Hard drive assembly tool calibration verification
US8447430B1 (en) 2010-06-30 2013-05-21 Western Digital Technologies, Inc. Systems and methods for assembly tool calibration verification
EA024739B1 (ru) 2010-09-29 2016-10-31 Аэроботикс, Инк. Способ и система разработки эталонной базы данных для конкретного способа неразрушающего контроля
EP2453325A1 (en) 2010-11-16 2012-05-16 Universal Robots ApS Method and means for controlling a robot
KR102050895B1 (ko) 2011-09-28 2020-01-08 유니버셜 로보츠 에이/에스 로봇의 캘리브레이션 및 프로그래밍
US9310482B2 (en) 2012-02-10 2016-04-12 Ascent Ventures, Llc Methods for locating and sensing the position, orientation, and contour of a work object in a robotic system
JP6475409B2 (ja) * 2013-12-20 2019-02-27 蛇の目ミシン工業株式会社 ロボット、ロボットの制御方法、及びロボットの制御プログラム
KR102386763B1 (ko) 2014-03-04 2022-04-14 유니버셜 로보츠 에이/에스 산업용 로봇을 위한 안전 시스템
CN112518790A (zh) 2014-09-26 2021-03-19 泰瑞达公司 手爪和自动测试设备
CN107848109B (zh) 2015-07-08 2022-03-04 优傲机器人公司 用于利用第三方贡献包扩展工业机器人的最终用户编程的方法
TWI805545B (zh) 2016-04-12 2023-06-21 丹麥商環球機器人公司 用於藉由示範來程式化機器人之方法和電腦程式產品
CN112719583A (zh) * 2020-12-10 2021-04-30 广东科学技术职业学院 激光传感智能焊接机器人及其焊枪归零计算方法

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JPS5024686A (sv) * 1973-07-09 1975-03-15
GB1511265A (en) * 1974-05-31 1978-05-17 Nasa Apparatus for sensing the relative position of two object
JPS5157489A (en) * 1974-11-15 1976-05-19 Mitsubishi Heavy Ind Ltd Jidokensasochino kontorooruhoho
DE2461842C3 (de) * 1974-12-30 1980-12-04 Kawasaki Heavy Industries, Ltd., Kobe, Hyogo (Japan) Einrichtung zur Änderung von Positionssignalen für einen programmgesteuerten Manipulator
SE416452B (sv) * 1975-06-16 1981-01-05 Asea Ab Industrirobot
SE401637B (sv) 1976-03-29 1978-05-22 Asea Ab Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse

Also Published As

Publication number Publication date
SE402540B (sv) 1978-07-10
US4166543A (en) 1979-09-04
DE2735632C2 (de) 1983-09-15
DE2735632A1 (de) 1978-02-16

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