SE8505935L - Sett och anordning for modifiering av en programmerbar manipulators program - Google Patents
Sett och anordning for modifiering av en programmerbar manipulators programInfo
- Publication number
- SE8505935L SE8505935L SE8505935A SE8505935A SE8505935L SE 8505935 L SE8505935 L SE 8505935L SE 8505935 A SE8505935 A SE 8505935A SE 8505935 A SE8505935 A SE 8505935A SE 8505935 L SE8505935 L SE 8505935L
- Authority
- SE
- Sweden
- Prior art keywords
- manipulator
- axes
- signals
- arm
- positions
- Prior art date
Links
- PWPJGUXAGUPAHP-UHFFFAOYSA-N lufenuron Chemical compound C1=C(Cl)C(OC(F)(F)C(C(F)(F)F)F)=CC(Cl)=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F PWPJGUXAGUPAHP-UHFFFAOYSA-N 0.000 title 1
- 230000004048 modification Effects 0.000 claims abstract 3
- 230000003252 repetitive effect Effects 0.000 claims abstract 3
- 238000012986 modification Methods 0.000 claims abstract 2
- 238000000034 method Methods 0.000 claims 2
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
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
-
- 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
- G05B19/409—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 using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- 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
- G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
- G05B19/40931—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of geometry
-
- 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
- G05B2219/34244—Multiplex for control 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35426—Prepare, enter next program during execution of actual program, machining
-
- 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
- G05B2219/36056—Modify program, machining order in real time, during operation, dynamically
-
- 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
- G05B2219/36078—Insert, read in new command instruction to modify fixed program
-
- 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
- G05B2219/36088—Machining parameters, overide
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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)
- Geometry (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Claims (1)
1. Satt att modifiera programmet hos en manipulator, som ar fOrsedd med en arm (50), som ar rorlig med avseende pa ett flertal axlar, och med ett kodarorgan (1000) for axlarna, anordnat att avge lagessignaler i motsvarighet till armens aktuella rage med avseende pa axlarna, varvid sattet inbegriper momenten att lagra (1020) ett flertal av de lagessignaler som svarar mot olika lagen av armen med avseende pi axlarna i en fOruthestamd sekvens och adresslokalisering, samt att atervinna (1036, 1030, 1006, 1014, 1016) de lagrade lagessignalerna pa ett foljdordnat satt for att styra armen till att utfOra en repeterande arbetscykel, k a n - netecknat av momenten att identifiera (1060, 1062) atminstone en av de lagrade lagessignalerna medelst den adresslokalisering, vid vilken armlaget skall modifieras, samt att modifiera (250) den identifierade, lagrade lagessignalen under forloppet av arbetscykeln medelst fOrvalda data, som motsvarar en positionsmodifiering till riktning och storlek.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US05/663,481 US4140953A (en) | 1976-03-03 | 1976-03-03 | Real time program modification apparatus |
Publications (3)
Publication Number | Publication Date |
---|---|
SE8505935L true SE8505935L (sv) | 1985-12-16 |
SE8505935D0 SE8505935D0 (sv) | 1985-12-16 |
SE461118B SE461118B (sv) | 1990-01-08 |
Family
ID=24662002
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE7702297A SE444782B (sv) | 1976-03-03 | 1977-03-02 | Programmerbar manipulator |
SE8505935A SE461118B (sv) | 1976-03-03 | 1985-12-16 | Saett och anordning foer modifiering av en programmerbar manipulators program |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE7702297A SE444782B (sv) | 1976-03-03 | 1977-03-02 | Programmerbar manipulator |
Country Status (8)
Country | Link |
---|---|
US (1) | US4140953A (sv) |
JP (2) | JPS52106563A (sv) |
CA (1) | CA1071316A (sv) |
DE (1) | DE2709335A1 (sv) |
FR (1) | FR2342826A1 (sv) |
GB (1) | GB1575418A (sv) |
IT (1) | IT1080007B (sv) |
SE (2) | SE444782B (sv) |
Families Citing this family (77)
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USRE31208E (en) * | 1974-12-26 | 1983-04-12 | Unimation, Inc. | Signal modification device for memory controlled manipulator apparatus |
US4447697A (en) * | 1978-03-28 | 1984-05-08 | Unimation, Inc. | Weld gun repositioning system for programmable manipulator |
JPS5858682B2 (ja) * | 1978-04-26 | 1983-12-27 | ファナック株式会社 | 産業用ロボツトの制御方式 |
JPS5524881A (en) * | 1978-08-24 | 1980-02-22 | Toyoda Mach Works Ltd | Numerical control device |
DE2851063A1 (de) * | 1978-11-25 | 1980-06-04 | Cloos Gmbh Carl | Vorrichtung zur automatischen fuehrung einer schweisspistole laengs einer vorprogrammierten schweissnaht |
US4385358A (en) * | 1979-10-19 | 1983-05-24 | Tokico Ltd. | Robot |
NO810726L (no) * | 1980-03-05 | 1981-09-07 | Thermwood Corp | Industrirobot. |
US4362977A (en) * | 1980-06-30 | 1982-12-07 | International Business Machines Corporation | Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot |
JPS5750279A (en) * | 1980-09-10 | 1982-03-24 | Komatsu Ltd | Robot for welding having multilayer welding function |
JPS5769312A (en) * | 1980-10-13 | 1982-04-28 | Fanuc Ltd | Numerical controller incorporating optional block skipping function |
US4379335A (en) * | 1980-10-28 | 1983-04-05 | Auto-Place, Inc. | Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot |
JPS5785674A (en) * | 1980-11-17 | 1982-05-28 | Komatsu Ltd | Copying corrector for welding robot |
US4456863A (en) * | 1980-12-23 | 1984-06-26 | Cleveland Machine Controls, Inc. | Apparatus for automatic calibration of servo response |
JPS57113107A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
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 |
US4368412A (en) * | 1981-02-04 | 1983-01-11 | Inoue-Japax Research Incorporated | Microprocessor-controlled motor drive control system |
US4534001A (en) * | 1981-03-23 | 1985-08-06 | Fanuc Ltd. | Numerical control system |
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 |
JPS58161828A (ja) * | 1982-03-22 | 1983-09-26 | Nippon Steel Corp | 金属位置検出方法 |
JPS584382A (ja) * | 1981-06-26 | 1983-01-11 | ファナック株式会社 | 工業用ロボツトの制御方式 |
US4433382A (en) * | 1981-07-20 | 1984-02-21 | Cincinnati Milacron Inc. | Apparatus for automatically adjusting the programmed location of a robot arm |
US4458321A (en) * | 1981-08-19 | 1984-07-03 | The Charles Stark Draper Laboratory, Inc. | Self-teaching robot feedback system |
JPS5858607A (ja) * | 1981-10-05 | 1983-04-07 | Sankyo Seiki Mfg Co Ltd | プリセツト式ロボツトにおけるポイント測定方式 |
US4432063A (en) * | 1981-10-06 | 1984-02-14 | Cincinnati Milacron Inc. | Apparatus for automatically moving a robot arm along a nonprogrammed path |
JPS58132439A (ja) * | 1982-02-02 | 1983-08-06 | Yamazaki Mazak Corp | 数値制御工作機械における加工プログラムの修正制御方法 |
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 |
US4486843A (en) * | 1982-03-03 | 1984-12-04 | Nordson Corporation | Transitional command position modification for a controller |
US4484294A (en) * | 1982-03-03 | 1984-11-20 | Nordson Corporation | Method and apparatus for modification of a prerecorded programmed sequence of motions during execution thereof by a robot |
JPS58171243A (ja) * | 1982-03-29 | 1983-10-07 | Fanuc Ltd | 数値制御装置 |
US4581893A (en) * | 1982-04-19 | 1986-04-15 | Unimation, Inc. | Manipulator apparatus with energy efficient control |
US4453221A (en) * | 1982-05-13 | 1984-06-05 | Cincinnati Milacron Inc. | Manipulator with adaptive velocity controlled path motion |
JPS58206389A (ja) * | 1982-05-28 | 1983-12-01 | 日産自動車株式会社 | ロボツトの制御装置 |
SE452719B (sv) * | 1982-06-29 | 1987-12-14 | Asea Ab | Industrirobot |
CA1184273A (en) * | 1982-09-23 | 1985-03-19 | Kazuyoshi Yasukawa | Robot control apparatus |
JPS5960506A (ja) * | 1982-09-29 | 1984-04-06 | Fanuc Ltd | 数値制御システム |
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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 |
US4494060A (en) * | 1983-03-02 | 1985-01-15 | Anorad Corporation | Axis controller for robotic actuator |
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JPS59188704A (ja) * | 1983-04-12 | 1984-10-26 | Amada Co Ltd | Nc機器の作動デ−タ修正方法 |
JPS59231607A (ja) * | 1983-06-14 | 1984-12-26 | Mitsubishi Electric Corp | ロボツトの制御装置 |
SE8304100L (sv) * | 1983-07-22 | 1985-01-23 | Ibm Svenska Ab | System for automatisk kalibrering av rymdkoordinaterna hos en robotgripper i sex frihetsgrader |
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DE3532213A1 (de) * | 1985-09-10 | 1987-05-07 | Leifeld & Co | Verfahren zum betreiben einer numerisch gesteuerten drueckmaschine sowie drueckmaschine zur durchfuehrung dieses verfahrens |
JPS62131306A (ja) * | 1985-12-04 | 1987-06-13 | Shin Meiwa Ind Co Ltd | 産業用ロボツトにおける制御方法 |
US4748552A (en) * | 1986-05-28 | 1988-05-31 | Goro Kikuchi | Sequence control system |
JP2681630B2 (ja) * | 1986-08-16 | 1997-11-26 | ファナック 株式会社 | オーバライドプレイバック方式 |
US4986724A (en) * | 1987-11-10 | 1991-01-22 | Cincinnati Milacron Inc. | System for compensated motion of coupled robot axes |
BG48961A1 (en) * | 1988-08-16 | 1991-07-15 | Instit T Za Kompleksna Avtom N | Periphery control device |
JPH02160487A (ja) * | 1988-12-12 | 1990-06-20 | Fanuc Ltd | ロボット手動送り補正方式 |
JPH02250782A (ja) * | 1989-03-20 | 1990-10-08 | Fanuc Ltd | 産業用ロボットの手動介入方式 |
JPH02277102A (ja) * | 1989-04-18 | 1990-11-13 | Toshiba Mach Co Ltd | 数値制御工作機械における加工プログラムティーチング方式 |
JP2862036B2 (ja) * | 1991-09-17 | 1999-02-24 | 三菱電機株式会社 | 数値制御装置 |
US5255571A (en) * | 1992-06-25 | 1993-10-26 | United Parcel Service Of America, Inc. | Three degree of freedom actuator system |
JP3053501B2 (ja) * | 1992-10-20 | 2000-06-19 | ファナック株式会社 | ロボットの位置教示方法 |
JPH0592805U (ja) * | 1993-02-10 | 1993-12-17 | 日野自動車工業株式会社 | 工作機械の制御装置 |
US5375066A (en) * | 1993-03-01 | 1994-12-20 | The United States Of America As Represented By The Secretary Of Commerce | Apparatus and methods for implementing error correction in real time for machine tools with encoder-type position feedback |
EP1478085A3 (en) * | 1995-06-06 | 2005-07-13 | The Chamberlain Group, Inc. | Movable barrier operator having force and position learning capability |
IT1296576B1 (it) * | 1997-11-27 | 1999-07-14 | Promau Srl | Apparecchiatura automatica per la curvatura di lamiere, con controllo selettivo digitale |
JP4203696B2 (ja) * | 1999-10-20 | 2009-01-07 | 株式会社安川電機 | 産業用機械の動作確認方法および装置 |
US7908652B1 (en) | 2001-12-21 | 2011-03-15 | Trapware Corporation | Detection of observers and countermeasures against observers |
US8176551B1 (en) * | 2000-01-27 | 2012-05-08 | Trapware Corporation | Detection of observer programs and countermeasures against observer programs |
DE102005047204A1 (de) * | 2005-10-01 | 2007-04-05 | Daimlerchrysler Ag | Verfahren zur Programmierung eines Industrieroboters |
US8612886B2 (en) * | 2007-09-28 | 2013-12-17 | Rockwell Automation Technologies, Inc. | Sequential function chart (SFC) online editing without reset |
US9841749B2 (en) * | 2014-04-01 | 2017-12-12 | Bot & Dolly, Llc | Runtime controller for robotic manufacturing system |
US9278449B1 (en) | 2014-05-21 | 2016-03-08 | Bot & Dolly, Llc | Closed-loop control system for robotic operation |
US9555545B2 (en) | 2014-05-21 | 2017-01-31 | Bot & Dolly, Llc | Systems and methods for time-based parallel robotic operation |
US9435446B1 (en) | 2014-07-24 | 2016-09-06 | Google Inc. | Rotary valve with brake mode |
US9611946B1 (en) | 2015-08-17 | 2017-04-04 | Google Inc. | Rotary hydraulic valve |
DE102015016255B4 (de) * | 2015-12-15 | 2024-06-06 | Kuka Roboter Gmbh | Iteratives Programmieren eines Prozesses einer beweglichen Maschine, insbesondere eines Roboters |
US9665099B1 (en) | 2015-12-31 | 2017-05-30 | Google Inc. | Integrated valve for a legged robot |
DE202018003442U1 (de) * | 2018-07-25 | 2019-10-28 | Ipr Gmbh | Kabelkonfektionierungswerkzeuganordnung |
Family Cites Families (18)
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US28437A (en) * | 1860-05-22 | Improvement in revolving fire-arms | ||
DE1138848B (de) * | 1958-10-15 | 1962-10-31 | Nat Res Dev | Servosystem zur Steuerung von Antrieben zur Bewegung eines Koerpers relativ zu einem anderen Koerper |
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US3555254A (en) * | 1967-04-17 | 1971-01-12 | Gerber Scientific Instr Co | Error correcting system and method for use with plotters, machine tools and the like |
DE1942914C3 (de) * | 1968-08-22 | 1980-05-29 | Amf Inc., New York, N.Y. (V.St.A.) | Programmgebereinrichtung für eine Wegsteuerung |
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US3770947A (en) * | 1971-08-20 | 1973-11-06 | City Nat Bank Of Detroit | Tool control |
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US3969723A (en) * | 1974-07-03 | 1976-07-13 | General Electric Company | On-line modification of computer programs |
US4025838A (en) * | 1974-12-26 | 1977-05-24 | Kawasaki Heavy Industries, Ltd. | Signal modification device for memory controlled manipulator apparatus |
DE2461842C3 (de) * | 1974-12-30 | 1980-12-04 | Kawasaki Heavy Industries, Ltd., Kobe, Hyogo (Japan) | Einrichtung zur Änderung von Positionssignalen für einen programmgesteuerten Manipulator |
JPS5223274A (en) * | 1975-08-15 | 1977-02-22 | Hitachi Ltd | Self-matching type semiconductor device |
-
1976
- 1976-03-03 US US05/663,481 patent/US4140953A/en not_active Expired - Lifetime
-
1977
- 1977-02-24 CA CA272,621A patent/CA1071316A/en not_active Expired
- 1977-03-02 GB GB8844/77A patent/GB1575418A/en not_active Expired
- 1977-03-02 SE SE7702297A patent/SE444782B/sv not_active IP Right Cessation
- 1977-03-03 JP JP2327477A patent/JPS52106563A/ja active Granted
- 1977-03-03 DE DE19772709335 patent/DE2709335A1/de active Granted
- 1977-03-03 FR FR7706245A patent/FR2342826A1/fr active Granted
- 1977-03-03 IT IT48293/77A patent/IT1080007B/it active
-
1984
- 1984-10-01 JP JP59206065A patent/JPS60105008A/ja active Granted
-
1985
- 1985-12-16 SE SE8505935A patent/SE461118B/sv not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
SE461118B (sv) | 1990-01-08 |
JPS60105008A (ja) | 1985-06-10 |
SE7702297L (sv) | 1977-09-04 |
JPS6129004B2 (sv) | 1986-07-03 |
JPS52106563A (en) | 1977-09-07 |
US4140953A (en) | 1979-02-20 |
DE2709335C2 (sv) | 1988-01-28 |
FR2342826B1 (sv) | 1983-11-10 |
GB1575418A (en) | 1980-09-24 |
DE2709335A1 (de) | 1977-09-15 |
FR2342826A1 (fr) | 1977-09-30 |
JPS6130284B2 (sv) | 1986-07-12 |
CA1071316A (en) | 1980-02-05 |
SE8505935D0 (sv) | 1985-12-16 |
SE444782B (sv) | 1986-05-12 |
IT1080007B (it) | 1985-05-16 |
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