SE8202088L - Anordning vid robotarmar - Google Patents

Anordning vid robotarmar

Info

Publication number
SE8202088L
SE8202088L SE8202088A SE8202088A SE8202088L SE 8202088 L SE8202088 L SE 8202088L SE 8202088 A SE8202088 A SE 8202088A SE 8202088 A SE8202088 A SE 8202088A SE 8202088 L SE8202088 L SE 8202088L
Authority
SE
Sweden
Prior art keywords
motion
programmed
predetermined
modifying
tool centerpoint
Prior art date
Application number
SE8202088A
Other languages
English (en)
Other versions
SE455846B (sv
SE455846C (sv
Inventor
J G Holmes
B J Resnik
Original Assignee
Cincinnati Milacron 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 Cincinnati Milacron Inc filed Critical Cincinnati Milacron Inc
Publication of SE8202088L publication Critical patent/SE8202088L/sv
Publication of SE455846B publication Critical patent/SE455846B/sv
Publication of SE455846C publication Critical patent/SE455846C/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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1692—Calibration of manipulator
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45135—Welding
    • 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
    • G05B2219/45187—Printer
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50167—Adapting to copying

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Artificial Intelligence (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
SE8202088A 1981-04-03 1982-04-01 Anordning foer att modifiera roerelsen foer en verktygsmittpunkt SE455846C (sv)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/250,908 US4403281A (en) 1981-04-03 1981-04-03 Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path

Publications (3)

Publication Number Publication Date
SE8202088L true SE8202088L (sv) 1982-10-04
SE455846B SE455846B (sv) 1988-08-15
SE455846C SE455846C (sv) 1989-11-27

Family

ID=22949659

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8202088A SE455846C (sv) 1981-04-03 1982-04-01 Anordning foer att modifiera roerelsen foer en verktygsmittpunkt

Country Status (7)

Country Link
US (1) US4403281A (sv)
JP (1) JPS57178689A (sv)
CA (1) CA1167143A (sv)
DE (1) DE3210675A1 (sv)
FR (1) FR2503010B1 (sv)
GB (1) GB2096362B (sv)
SE (1) SE455846C (sv)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112334847A (zh) * 2018-07-17 2021-02-05 科控工业自动化德国有限公司 用于由给定轮廓确定粗略轨迹的方法

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FR2519690A1 (fr) * 1982-01-11 1983-07-18 Montabert Ets Dispositif d'asservissement electro-hydraulique de bras-support articule pour glissiere d'appareil de foration
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US4486843A (en) * 1982-03-03 1984-12-04 Nordson Corporation Transitional command position modification for a controller
US4481591A (en) * 1982-03-03 1984-11-06 Nordson Corporation Method and apparatus for modifying a prerecorded sequence of ON/OFF commands for controlling a bistable device operating in conjunction with a moving robot under program control
DE3244307A1 (de) * 1982-11-30 1984-05-30 Siemens AG, 1000 Berlin und 8000 München Robotersteuerung
JPS59114609A (ja) * 1982-12-22 1984-07-02 Hitachi Ltd ロボットの制御装置
JPS59153207A (ja) * 1983-02-21 1984-09-01 Mitsubishi Electric Corp ロボツトの制御装置
US4484120A (en) * 1983-04-13 1984-11-20 Nordson Corporation Auxiliary function command presequencing for a robot controller
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DE3332749A1 (de) * 1983-09-10 1985-03-28 Ibau Hamburg Ingenieurgesellschaft Industriebau Mbh, 2000 Hamburg Verfahren zum befuellen von kesselfahrzeugen, insbesondere mit schuettgut wie zement
EP0142072A3 (en) * 1983-11-15 1986-12-30 Aida Engineering Ltd. Grinding robot
JP2628297B2 (ja) * 1984-07-03 1997-07-09 新明和工業株式会社 ロボット制御方法およびその装置
JPS6115207A (ja) * 1984-06-29 1986-01-23 Shin Meiwa Ind Co Ltd ロボツト制御方法およびその装置
JPS6115209A (ja) * 1984-06-29 1986-01-23 Sumitomo Metal Ind Ltd 溶接線倣い方法
JPS61157903A (ja) * 1984-12-28 1986-07-17 Yaskawa Electric Mfg Co Ltd ロボツトの制御方法
JPS61163404A (ja) * 1985-01-12 1986-07-24 Fanuc Ltd サ−ボコントロ−ラのインタフエイス方式
JPH0789286B2 (ja) * 1986-02-28 1995-09-27 株式会社日立製作所 多関節マニピユレ−タの作業原点決定方法
EP0268491A3 (en) * 1986-11-20 1988-08-03 Unimation Inc. Multiaxis robot having improved motion control
EP0269372A3 (en) * 1986-11-20 1988-08-17 Unimation Inc. Robot with micro processor-based digital robot control
US4786847A (en) * 1986-11-20 1988-11-22 Unimation Inc. Digital control for multiaxis robots
EP0269374A3 (en) * 1986-11-20 1988-08-24 Unimation Inc. Modular robot control system
JPS63288658A (ja) * 1987-05-21 1988-11-25 Mitsubishi Electric Corp バリ取り用ロボット装置
JP2511072B2 (ja) * 1987-10-23 1996-06-26 三菱重工業株式会社 ロボットにおける教示デ―タの記録・再生方法
EP0328887A1 (de) * 1988-02-18 1989-08-23 Siemens Aktiengesellschaft Anordnung zum Beeinflussen von automatisierten Prozessen mit Industrierobotern, zum Beispiel beim Abdecken von elektronischen Bauteilen auf Hybridschaltungen
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
US5014183A (en) * 1988-10-31 1991-05-07 Cincinnati Milacron, Inc. Method and means for path offsets memorization and recall in a manipulator
US5102280A (en) * 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
US5197846A (en) * 1989-12-22 1993-03-30 Hitachi, Ltd. Six-degree-of-freedom articulated robot mechanism and assembling and working apparatus using same
AU661825B2 (en) * 1990-08-08 1995-08-10 Digital Arts Film & Television Pty Ltd Motion control system for cinematography
CA2082790A1 (en) * 1991-12-02 1993-06-03 R. David Hemmerle Automated maintenance system for computer numerically controlled machines
JP2812920B2 (ja) * 1996-05-30 1998-10-22 川崎重工業株式会社 ロボットの動作指令作成方法
US6560513B2 (en) * 1999-11-19 2003-05-06 Fanuc Robotics North America Robotic system with teach pendant
US6313595B2 (en) 1999-12-10 2001-11-06 Fanuc Robotics North America, Inc. Method of controlling an intelligent assist device in a plurality of distinct workspaces
US6204620B1 (en) 1999-12-10 2001-03-20 Fanuc Robotics North America Method of controlling an intelligent assist device
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6455800B1 (en) * 2001-01-04 2002-09-24 Festo Corporation Servo-pneumatic modular weld gun
US8219246B2 (en) * 2001-06-13 2012-07-10 Oliver Crispin Robotics Limited System and method for controlling a robotic arm
US20050220582A1 (en) * 2002-09-13 2005-10-06 Tokyo Electron Limited Teaching method and processing system
JP2006099260A (ja) * 2004-09-28 2006-04-13 Fanuc Ltd ロボットプログラム作成装置
US20070142966A1 (en) * 2005-12-20 2007-06-21 Khalid Mirza Process for moving a robot
DE102007062109A1 (de) * 2007-12-21 2009-06-25 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Steuern eines Industrieroboters
JP4443614B2 (ja) * 2008-02-27 2010-03-31 トヨタ自動車株式会社 パワーアシスト装置及びその制御方法
JP2011108044A (ja) * 2009-11-18 2011-06-02 Fanuc Ltd Ｎ個のロボットを同時に制御するロボット制御装置
JP6008121B2 (ja) * 2013-01-28 2016-10-19 セイコーエプソン株式会社 ロボットおよびロボット制御装置
DE102014226933B3 (de) * 2014-12-23 2016-03-24 Kuka Roboter Gmbh Vorrichtung und Verfahren zum Aufnehmen von Positionen
CN106003083B (zh) * 2016-06-28 2018-02-13 宁波优学智能科技有限公司 一种视频监控机器人
DE102016217118A1 (de) 2016-09-08 2018-03-08 Siemens Aktiengesellschaft Manipulator und Verfahren zur Regelung einer Bewegung eines Manipulators
CN108081255B (zh) * 2016-11-23 2019-10-15 广汽乘用车有限公司 一种机器人零点校准方法及装置
US11707843B2 (en) * 2020-04-03 2023-07-25 Fanuc Corporation Initial reference generation for robot optimization motion planning
JP7276359B2 (ja) * 2021-01-07 2023-05-18 株式会社安川電機 動作指令生成装置、機構制御システム、コンピュータプログラム、動作指令生成方法及び機構制御方法

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112334847A (zh) * 2018-07-17 2021-02-05 科控工业自动化德国有限公司 用于由给定轮廓确定粗略轨迹的方法
CN112334847B (zh) * 2018-07-17 2024-06-07 科控工业自动化德国有限公司 用于由给定轮廓确定粗略轨迹的方法

Also Published As

Publication number Publication date
SE455846B (sv) 1988-08-15
DE3210675A1 (de) 1982-10-28
SE455846C (sv) 1989-11-27
DE3210675C2 (sv) 1989-04-27
US4403281A (en) 1983-09-06
CA1167143A (en) 1984-05-08
GB2096362A (en) 1982-10-13
FR2503010A1 (fr) 1982-10-08
FR2503010B1 (fr) 1986-03-07
JPH0439086B2 (sv) 1992-06-26
GB2096362B (en) 1985-02-06
JPS57178689A (en) 1982-11-02

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