SE9600344L - Förfarande för styrning av en industrirobot med hänsyn till belastning och livslängd - Google Patents

Förfarande för styrning av en industrirobot med hänsyn till belastning och livslängd

Info

Publication number
SE9600344L
SE9600344L SE9600344A SE9600344A SE9600344L SE 9600344 L SE9600344 L SE 9600344L SE 9600344 A SE9600344 A SE 9600344A SE 9600344 A SE9600344 A SE 9600344A SE 9600344 L SE9600344 L SE 9600344L
Authority
SE
Sweden
Prior art keywords
robot
load
service life
calculated
axes
Prior art date
Application number
SE9600344A
Other languages
English (en)
Other versions
SE505975C2 (sv
SE9600344D0 (sv
Inventor
Torgny Brogaardh
Haakan Dahlquist
Staffan Elfving
Tord Henriksson
Original Assignee
Asea Brown Boveri
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 Brown Boveri filed Critical Asea Brown Boveri
Priority to SE9600344A priority Critical patent/SE505975C2/sv
Publication of SE9600344D0 publication Critical patent/SE9600344D0/sv
Priority to EP97902777A priority patent/EP0877660B1/en
Priority to ES97902777T priority patent/ES2180925T3/es
Priority to PCT/SE1997/000094 priority patent/WO1997027978A1/en
Priority to US09/077,733 priority patent/US6230079B1/en
Priority to DE69714015T priority patent/DE69714015T2/de
Priority to JP52754297A priority patent/JP3892908B2/ja
Publication of SE9600344L publication Critical patent/SE9600344L/sv
Publication of SE505975C2 publication Critical patent/SE505975C2/sv

Links

Classifications

    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • G05B2219/37252—Life of tool, service life, decay, wear estimation
    • 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
    • G05B2219/39247—Control speed, acceleration as function of load and rate of fatigue

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
SE9600344A 1996-01-31 1996-01-31 Förfarande för styrning av en industrirobot med hänsyn till belastning och livslängd SE505975C2 (sv)

Priority Applications (7)

Application Number Priority Date Filing Date Title
SE9600344A SE505975C2 (sv) 1996-01-31 1996-01-31 Förfarande för styrning av en industrirobot med hänsyn till belastning och livslängd
EP97902777A EP0877660B1 (en) 1996-01-31 1997-01-22 A method for control of an industrial robot
ES97902777T ES2180925T3 (es) 1996-01-31 1997-01-22 Procedimiento de control de un robot industrial.
PCT/SE1997/000094 WO1997027978A1 (en) 1996-01-31 1997-01-22 A method for control of an industrial robot
US09/077,733 US6230079B1 (en) 1996-01-31 1997-01-22 Method for control of an industrial robot
DE69714015T DE69714015T2 (de) 1996-01-31 1997-01-22 Verfahren zur steuerung eines industriellen roboters
JP52754297A JP3892908B2 (ja) 1996-01-31 1997-01-22 産業用ロボットの制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9600344A SE505975C2 (sv) 1996-01-31 1996-01-31 Förfarande för styrning av en industrirobot med hänsyn till belastning och livslängd

Publications (3)

Publication Number Publication Date
SE9600344D0 SE9600344D0 (sv) 1996-01-31
SE9600344L true SE9600344L (sv) 1997-08-01
SE505975C2 SE505975C2 (sv) 1997-10-27

Family

ID=20401211

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9600344A SE505975C2 (sv) 1996-01-31 1996-01-31 Förfarande för styrning av en industrirobot med hänsyn till belastning och livslängd

Country Status (7)

Country Link
US (1) US6230079B1 (sv)
EP (1) EP0877660B1 (sv)
JP (1) JP3892908B2 (sv)
DE (1) DE69714015T2 (sv)
ES (1) ES2180925T3 (sv)
SE (1) SE505975C2 (sv)
WO (1) WO1997027978A1 (sv)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE517970C2 (sv) * 2000-07-20 2002-08-13 Volvo Articulated Haulers Ab Förfarande för att uppskatta en livslängdsreducerande skada på ett i drift belastat objekt,jämte datorprogramprodukt
WO2005015332A2 (en) * 2003-08-07 2005-02-17 Sikorsky Aircraft Corporation Virtual load monitoring system and method
US7424338B1 (en) 2007-04-02 2008-09-09 Honda Motor Co., Ltd. Broken tool detection system
JP4256440B2 (ja) * 2007-08-10 2009-04-22 ファナック株式会社 ロボットプログラム調整装置
EP2219090B1 (en) 2007-12-06 2012-02-01 ABB Research Ltd. A robot service system and a method for providing remote service for a robot
DE102011010505A1 (de) * 2011-02-07 2012-08-09 Dürr Systems GmbH Anpassung der Dynamik zumindest eines Roboters
US9008839B1 (en) 2012-02-07 2015-04-14 Google Inc. Systems and methods for allocating tasks to a plurality of robotic devices
US10668623B2 (en) * 2015-05-29 2020-06-02 Abb Schweiz Ag Method and system for robotic adaptive production
US10828778B2 (en) * 2017-11-30 2020-11-10 Abb Schweiz Ag Method for operating a robot
CN110948486A (zh) * 2019-11-20 2020-04-03 北京国电富通科技发展有限责任公司 带电机器人的作业方法、装置及控制器
CN111300381A (zh) * 2020-01-20 2020-06-19 兰州理工大学 基于数字孪生三维模型的软体机器人或驱动器系统及其建模方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5464780A (en) 1977-11-02 1979-05-24 Toshiba Mach Co Ltd Unattended operating system in machining
JPS5412085A (en) 1977-06-29 1979-01-29 Oki Electric Ind Co Ltd Timely controlled data presenting method in nc
US4351029A (en) * 1979-12-05 1982-09-21 Westinghouse Electric Corp. Tool life monitoring and tracking apparatus
JPS5969246A (ja) * 1982-10-07 1984-04-19 Fanuc Ltd 工具寿命管理方法
EP0262600B1 (en) * 1986-09-29 1992-11-25 Asea Ab Method and device for optimum parameter control of controllers for rotational and/or linear movements in one or more degrees of freedom in an industrial robot
JPH02198792A (ja) 1989-01-24 1990-08-07 Mitsubishi Electric Corp 産業用ロボットの可動部ケーブルの寿命予知装置
JPH03178788A (ja) * 1989-12-06 1991-08-02 Hitachi Ltd マニピュレータの制御方法
US5101472A (en) * 1990-10-04 1992-03-31 Repperger Daniel W Military robotic controller with majorizing function and nonlinear torque capability
US5515266A (en) * 1992-01-12 1996-05-07 Meyer; Urs Textile spinning machine management system
US5732194A (en) * 1995-08-04 1998-03-24 Ford Global Technologies, Inc. Computer controlled reconfigurable part fixture mechanism

Also Published As

Publication number Publication date
WO1997027978A1 (en) 1997-08-07
EP0877660B1 (en) 2002-07-17
DE69714015T2 (de) 2003-02-13
EP0877660A1 (en) 1998-11-18
SE505975C2 (sv) 1997-10-27
ES2180925T3 (es) 2003-02-16
JP2000504279A (ja) 2000-04-11
JP3892908B2 (ja) 2007-03-14
DE69714015D1 (de) 2002-08-22
SE9600344D0 (sv) 1996-01-31
US6230079B1 (en) 2001-05-08

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Legal Events

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