SE7611920L - Programmerbar manipulator samt sett att programmera denna - Google Patents

Programmerbar manipulator samt sett att programmera denna

Info

Publication number
SE7611920L
SE7611920L SE7611920A SE7611920A SE7611920L SE 7611920 L SE7611920 L SE 7611920L SE 7611920 A SE7611920 A SE 7611920A SE 7611920 A SE7611920 A SE 7611920A SE 7611920 L SE7611920 L SE 7611920L
Authority
SE
Sweden
Prior art keywords
teaching
facilities
manipulator
assembly
employed
Prior art date
Application number
SE7611920A
Other languages
Unknown language ( )
English (en)
Other versions
SE446071B (sv
Inventor
J F Engelberger
T H Lindbom
M J Dunne
W Perzley
W N Roberts
H L Gardner
Original Assignee
Unimation Inc
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 Unimation Inc filed Critical Unimation Inc
Publication of SE7611920L publication Critical patent/SE7611920L/sv
Publication of SE446071B publication Critical patent/SE446071B/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
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H9/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members
    • F16H9/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion
    • F16H9/04—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes
    • F16H9/10—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes engaging a pulley provided with radially-actuatable elements carrying the belt
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34236—Multiplex for servos, actuators
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35238—Gray-code
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35543—Cartesian to polar and vice versa
    • 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
    • G05B2219/39002—Move tip of arm on straight line
    • 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
    • G05B2219/39468—Changeable hand, tool, code carrier, detector
    • 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
    • G05B2219/40307—Two, dual arm robot, arm used synchronously, or each separately, asynchronously
    • 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
    • G05B2219/42207—Generate points between start and end position, linear interpolation
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43183—Speed control, input is the reference, but no feedback
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45051—Transfer line
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49395—Repeating same operations for other coordinates

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
  • Control Of Position Or Direction (AREA)
SE7611920A 1975-10-28 1976-10-27 Sett att programmera och styra en manipulator samt programmerings- och styranordning for genomforande av settet SE446071B (sv)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/625,932 US4163183A (en) 1975-10-28 1975-10-28 Programmable automatic assembly system

Publications (2)

Publication Number Publication Date
SE7611920L true SE7611920L (sv) 1977-04-29
SE446071B SE446071B (sv) 1986-08-11

Family

ID=24508237

Family Applications (6)

Application Number Title Priority Date Filing Date
SE7611920A SE446071B (sv) 1975-10-28 1976-10-27 Sett att programmera och styra en manipulator samt programmerings- och styranordning for genomforande av settet
SE8305520A SE8305520L (sv) 1975-10-28 1983-10-07 Sett att programmera en manipulator
SE8305518A SE8305518D0 (sv) 1975-10-28 1983-10-07 Programmerbar manipulator
SE8305519A SE8305519D0 (sv) 1975-10-28 1983-10-07 Programmerbar manipulator
SE8305521A SE8305521D0 (sv) 1975-10-28 1983-10-07 Sett att programmera en manipulator
SE8305517A SE8305517D0 (sv) 1975-10-28 1983-10-07 Programmerbar manipulator

Family Applications After (5)

Application Number Title Priority Date Filing Date
SE8305520A SE8305520L (sv) 1975-10-28 1983-10-07 Sett att programmera en manipulator
SE8305518A SE8305518D0 (sv) 1975-10-28 1983-10-07 Programmerbar manipulator
SE8305519A SE8305519D0 (sv) 1975-10-28 1983-10-07 Programmerbar manipulator
SE8305521A SE8305521D0 (sv) 1975-10-28 1983-10-07 Sett att programmera en manipulator
SE8305517A SE8305517D0 (sv) 1975-10-28 1983-10-07 Programmerbar manipulator

Country Status (8)

Country Link
US (1) US4163183A (sv)
JP (1) JPS5284669A (sv)
CA (1) CA1084966A (sv)
DE (2) DE2649123C2 (sv)
FR (4) FR2357339A1 (sv)
GB (4) GB1561260A (sv)
IT (1) IT1075776B (sv)
SE (6) SE446071B (sv)

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US5126948A (en) * 1989-11-08 1992-06-30 Ltv Aerospace And Defense Company Digital position encoder and data optimizer
DE4290927T1 (de) * 1991-04-01 1994-01-13 Fanuc Robotics North America Verfahren und System zur flexiblen Montage von Baugruppen
JPH0553634A (ja) * 1991-08-29 1993-03-05 Matsushita Electric Ind Co Ltd 複腕干渉回避システム
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US6612143B1 (en) 2001-04-13 2003-09-02 Orametrix, Inc. Robot and method for bending orthodontic archwires and other medical devices
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US9517895B2 (en) * 2013-10-30 2016-12-13 GM Global Technology Operations LLC Vehicle frame turnover system and method
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JP6424236B2 (ja) * 2014-12-22 2018-11-14 株式会社Ｆｕｊｉ 対基板作業管理装置
JP7288670B2 (ja) * 2017-03-10 2023-06-08 ユニヴァーシティ オブ ワシントン 医療用インプラントの安定性を測定および評価するための方法およびシステム
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JP7118628B2 (ja) * 2017-12-01 2022-08-16 キヤノン株式会社 ロボット装置、およびロボット装置の制御方法
WO2019139815A1 (en) 2018-01-12 2019-07-18 Duke University Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects
TWI822729B (zh) 2018-02-06 2023-11-21 美商即時機器人股份有限公司 用於儲存一離散環境於一或多個處理器之一機器人之運動規劃及其改良操作之方法及設備
DE102018105041A1 (de) * 2018-03-06 2019-09-12 Dürr Systems Ag Schwenkeinheit für einen Handhabungsroboter und zugehöriges Verfahren
WO2019183141A1 (en) 2018-03-21 2019-09-26 Realtime Robotics, Inc. Motion planning of a robot for various environments and tasks and improved operation of same
CN108188736B (zh) * 2018-03-23 2023-08-15 浙江亿宝科技有限公司 一种换向器自动装配机
JP7417356B2 (ja) * 2019-01-25 2024-01-18 株式会社ソニー・インタラクティブエンタテインメント ロボット制御システム
US11958183B2 (en) 2019-09-19 2024-04-16 The Research Foundation For The State University Of New York Negotiation-based human-robot collaboration via augmented reality
CN112093471B (zh) * 2020-07-29 2022-03-04 强信机械科技(莱州)有限公司 一种切拼下摆机的机械手
CN113771045B (zh) * 2021-10-15 2022-04-01 广东工业大学 视觉引导的直角机器人手机中框高适应定位抓取方法

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Also Published As

Publication number Publication date
SE8305519L (sv) 1983-10-07
SE8305517L (sv) 1983-10-07
FR2361207A1 (fr) 1978-03-10
FR2361207B1 (fr) 1985-08-23
DE2649123C2 (de) 1986-07-24
SE8305518L (sv) 1983-10-07
FR2357339B1 (sv) 1984-10-19
SE8305520D0 (sv) 1983-10-07
DE2660912C2 (de) 1986-07-17
FR2357339A1 (fr) 1978-02-03
SE8305519D0 (sv) 1983-10-07
GB1561259A (en) 1980-02-13
IT1075776B (it) 1985-04-22
CA1084966A (en) 1980-09-02
JPS5284669A (en) 1977-07-14
GB1561258A (en) 1980-02-13
SE8305521L (sv) 1983-10-07
FR2361206B1 (sv) 1984-07-20
DE2649123A1 (de) 1977-05-12
FR2361206A1 (fr) 1978-03-10
SE446071B (sv) 1986-08-11
GB1561260A (en) 1980-02-13
GB1561256A (en) 1980-02-13
US4163183A (en) 1979-07-31
SE8305520L (sv) 1983-10-07
SE8305521D0 (sv) 1983-10-07
FR2361205A1 (fr) 1978-03-10
SE8305517D0 (sv) 1983-10-07
SE8305518D0 (sv) 1983-10-07

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