SE7809775L - Sett och anordning for feldetektering i en programmerbar manipulator - Google Patents

Sett och anordning for feldetektering i en programmerbar manipulator

Info

Publication number
SE7809775L
SE7809775L SE7809775A SE7809775A SE7809775L SE 7809775 L SE7809775 L SE 7809775L SE 7809775 A SE7809775 A SE 7809775A SE 7809775 A SE7809775 A SE 7809775A SE 7809775 L SE7809775 L SE 7809775L
Authority
SE
Sweden
Prior art keywords
detection kit
field detection
programmable manipulator
manipulator
programmable
Prior art date
Application number
SE7809775A
Other languages
English (en)
Other versions
SE441708B (sv
Inventor
J F Engelberger
M J Dunne
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 SE7809775L publication Critical patent/SE7809775L/sv
Publication of SE441708B publication Critical patent/SE441708B/sv

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/406Numerical 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 monitoring or safety
    • G05B19/4062Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/34Director, elements to supervisory
    • G05B2219/34239Multiplex for whole system
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/42Servomotor, servo controller kind till VSS
    • G05B2219/42268Safety, excess in error
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/50Machine tool, machine tool null till machine tool work handling
    • G05B2219/50008Multiple, multi tool head, parallel machining
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/50Machine tool, machine tool null till machine tool work handling
    • G05B2219/50197Signature analysis, store working conditions, compare with actual

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
SE7809775A 1977-09-19 1978-09-18 Anordning for feldetektering i en programmerbar manipulator SE441708B (sv)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/834,421 US4150326A (en) 1977-09-19 1977-09-19 Trajectory correlation and error detection method and apparatus

Publications (2)

Publication Number Publication Date
SE7809775L true SE7809775L (sv) 1979-03-20
SE441708B SE441708B (sv) 1985-10-28

Family

ID=25266902

Family Applications (1)

Application Number Title Priority Date Filing Date
SE7809775A SE441708B (sv) 1977-09-19 1978-09-18 Anordning for feldetektering i en programmerbar manipulator

Country Status (6)

Country Link
US (1) US4150326A (sv)
DE (1) DE2840341A1 (sv)
FR (1) FR2403599A1 (sv)
GB (1) GB2004668B (sv)
IT (1) IT1105957B (sv)
SE (1) SE441708B (sv)

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US4385358A (en) * 1979-10-19 1983-05-24 Tokico Ltd. Robot
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DE3039400C2 (de) * 1980-10-18 1984-10-04 Ludwig Dr.-Ing. 7500 Karlsruhe Pietzsch Verfahren zum Steuern von Handhabungssystemen und Handhabungssystem zur Durchführung dieses Verfahrens
JPS5773402A (en) * 1980-10-23 1982-05-08 Fanuc Ltd Numerical control system
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JPS57113118A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113111A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113117A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
US4433382A (en) * 1981-07-20 1984-02-21 Cincinnati Milacron Inc. Apparatus for automatically adjusting the programmed location of a robot arm
JPS58163001A (ja) * 1982-03-23 1983-09-27 Toyoda Mach Works Ltd 干渉チエツク機能を備えた数値制御装置
US4581893A (en) * 1982-04-19 1986-04-15 Unimation, Inc. Manipulator apparatus with energy efficient control
JPS58217294A (ja) * 1982-06-07 1983-12-17 株式会社日立製作所 産業用ロボツトの安全装置
CA1184273A (en) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Robot control apparatus
US4604682A (en) * 1982-09-30 1986-08-05 Teleplex Corporation Buffer system for interfacing an intermittently accessing data processor to an independently clocked communications system
US4614944A (en) * 1982-09-30 1986-09-30 Teleplex Corporation Telemetry system for distributed equipment controls and equipment monitors
US4604559A (en) * 1983-02-15 1986-08-05 Deep Ocean Engineering Incorporated Apparatus and method for providing useful audio feedback to aid in the operation of remotely controlled powered manipulators
DE3312862A1 (de) * 1983-04-09 1984-10-11 Blohm + Voss Ag, 2000 Hamburg Freiprogrammierbare, mehrachsige betaetigungsarmeinheit, insbesondere industrieroboter
DE3312939C2 (de) * 1983-04-11 1985-04-25 Blohm + Voss Ag, 2000 Hamburg Steuervorrichtung für einen Industrie-Roboter mit mindestens einer Achse
US4484120A (en) * 1983-04-13 1984-11-20 Nordson Corporation Auxiliary function command presequencing for a robot controller
JPS60169905A (ja) * 1984-02-15 1985-09-03 Hitachi Constr Mach Co Ltd テイ−チングプレイバツク装置
DE3533058A1 (de) * 1984-09-22 1986-06-12 Deutsche Gesellschaft für Wiederaufarbeitung von Kernbrennstoffen mbH, 3000 Hannover Vorrichtung zum fernhantierten instandhalten von anlagenteilen in einer abgeschirmten kerntechnischen anlage
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
US4825376A (en) * 1986-04-17 1989-04-25 Glasstech International L.P. Controller for glass sheet processing system
JPS62256007A (ja) * 1986-04-30 1987-11-07 Mitsubishi Electric Corp 故障診断装置
DE3883075T2 (de) * 1987-05-25 1994-04-07 Omron Tateisi Electronics Co Fehlerdiagnosegerät für gesteuerte Einrichtung.
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
DE4030954C2 (de) * 1990-09-29 1994-08-04 Danfoss As Verfahren zur Steuerung der Bewegung eines hydraulisch bewegbaren Arbeitsgeräts und Bahnsteuereinrichtung zur Durchführung des Verfahrens
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US5649956A (en) * 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
AU2003228812A1 (en) * 2002-05-02 2003-11-17 GMP Surgical Solutions, Inc Apparatus for positioning a medical instrument
KR101026692B1 (ko) * 2002-12-06 2011-04-07 인튜어티브 서지컬 인코포레이티드 긴 샤프트를 포함하는 장치
US7386365B2 (en) 2004-05-04 2008-06-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
JP2007098464A (ja) * 2005-10-07 2007-04-19 Nissan Motor Co Ltd レーザー加工ロボット制御装置、レーザー加工ロボット制御方法およびレーザー加工ロボット制御プログラム
US8054752B2 (en) * 2005-12-22 2011-11-08 Intuitive Surgical Operations, Inc. Synchronous data communication
CN104688327B (zh) 2006-06-13 2017-06-09 直观外科手术操作公司 微创手术系统
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US7849545B2 (en) * 2006-11-14 2010-12-14 Hill-Rom Industries Sa Control system for hospital bed mattress
EP1967333A1 (en) 2007-03-09 2008-09-10 Abb Research Ltd. Detection of condition changes in an industrial robot system
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8717181B2 (en) 2010-07-29 2014-05-06 Hill-Rom Services, Inc. Bed exit alert silence with automatic re-enable
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
EP3119339B1 (en) 2014-03-17 2019-08-28 Intuitive Surgical Operations, Inc. Systems and methods for offscreen indication of instruments in a teleoperational medical system
EP2995242B1 (en) 2014-09-11 2023-11-15 Hill-Rom S.A.S. Patient support apparatus
US9984766B1 (en) * 2017-03-23 2018-05-29 Arm Limited Memory protection circuitry testing and memory scrubbing using memory built-in self-test

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US3576979A (en) * 1968-09-24 1971-05-04 Allen Bradley Co Motion monitor system
CA918789A (en) * 1969-03-18 1973-01-09 F. Engelberger Joseph Programmed manipulator apparatus
US3744032A (en) * 1971-07-15 1973-07-03 Unimotion Inc Stationary base programmed manipulator arrangement for continuously moving workpiece
GB1433868A (en) * 1972-05-06 1976-04-28 Herbert Ltd A Automatic control systems for and methods of controlling machine tool apparatus
CH566587A5 (sv) * 1973-03-08 1975-09-15 Index Werke Kg Hahn & Tessky
US3914675A (en) * 1973-09-17 1975-10-21 Gen Electric Fault detector circuit for electric vehicle control
US3987283A (en) * 1975-07-07 1976-10-19 Moeller Charles R Digital controller for punch presses and the like

Also Published As

Publication number Publication date
US4150326A (en) 1979-04-17
FR2403599B1 (sv) 1984-01-27
GB2004668A (en) 1979-04-04
FR2403599A1 (fr) 1979-04-13
DE2840341C2 (sv) 1987-12-03
IT1105957B (it) 1985-11-11
IT7851138A0 (it) 1978-09-19
GB2004668B (en) 1982-04-21
DE2840341A1 (de) 1979-04-05
SE441708B (sv) 1985-10-28

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