TR201905774T4 - Bir endüstriyel robotun kontrol edilmesi yöntemi. - Google Patents

Bir endüstriyel robotun kontrol edilmesi yöntemi. Download PDF

Info

Publication number
TR201905774T4
TR201905774T4 TR2019/05774T TR201905774T TR201905774T4 TR 201905774 T4 TR201905774 T4 TR 201905774T4 TR 2019/05774 T TR2019/05774 T TR 2019/05774T TR 201905774 T TR201905774 T TR 201905774T TR 201905774 T4 TR201905774 T4 TR 201905774T4
Authority
TR
Turkey
Prior art keywords
controlling
industrial robot
industrial
robot
relates
Prior art date
Application number
TR2019/05774T
Other languages
English (en)
Inventor
Allardice Etienne
Delor Stéphane
Original Assignee
Staubli Sa Ets
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 Staubli Sa Ets filed Critical Staubli Sa Ets
Publication of TR201905774T4 publication Critical patent/TR201905774T4/tr

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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • 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
    • 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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/061—Safety devices with audible signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • 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
    • G05B2219/34131—Split in approximation and accurate calculation
    • 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
    • G05B2219/34169—Coarse interpolator, path calculator delivers position, speed, acceleration blocks
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Theoretical Computer Science (AREA)
  • Computing Systems (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

Buluş bir endüstriyel robotun yanı sıra bu gibi bir endüstriyel robotun kontrol edilmesine ilişkin bir yöntem ile ilgilidir. Buluş özellikle birkaç eksene sahip mafsallı bir robot kolu içeren endüstriyel robotların kontrol edilmesi ile ilgilidir.
TR2019/05774T 2016-07-29 2017-07-28 Bir endüstriyel robotun kontrol edilmesi yöntemi. TR201905774T4 (tr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1657385A FR3054468B1 (fr) 2016-07-29 2016-07-29 Procede de commande d'un robot a usage industriel

Publications (1)

Publication Number Publication Date
TR201905774T4 true TR201905774T4 (tr) 2019-05-21

Family

ID=57233644

Family Applications (1)

Application Number Title Priority Date Filing Date
TR2019/05774T TR201905774T4 (tr) 2016-07-29 2017-07-28 Bir endüstriyel robotun kontrol edilmesi yöntemi.

Country Status (6)

Country Link
US (1) US10613517B2 (tr)
EP (1) EP3275605B1 (tr)
KR (1) KR102380882B1 (tr)
CN (1) CN107662207B (tr)
FR (1) FR3054468B1 (tr)
TR (1) TR201905774T4 (tr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7384575B2 (ja) * 2018-08-10 2023-11-21 川崎重工業株式会社 情報処理装置、仲介装置、シミュレートシステム、情報処理方法及びプログラム
DE102018124595B4 (de) * 2018-10-05 2022-02-17 Carl Zeiss Industrielle Messtechnik Gmbh Vorrichtung zur Erfassung einer Position und Lage eines Endeffektors eines Roboters
FR3097565B1 (fr) * 2019-06-19 2022-08-12 Staubli Sa Ets Machine textile, métier à tisser comportant une telle machine textile et procédés associés
JP7443740B2 (ja) * 2019-12-12 2024-03-06 セイコーエプソン株式会社 ロボットシステムおよびロボットシステムの制御方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004026827B4 (de) * 2004-05-28 2006-03-02 Hiersemann Prozessautomation Gmbh Verfahren und Anordnung zur Überwachung von Arbeitsabläufen in einem Mensch-Maschine-System
DE602006007823D1 (de) * 2006-05-16 2009-08-27 Abb Ab Steuersystem für einen Industrieroboter
US7626519B2 (en) * 2007-05-30 2009-12-01 Texas Instruments Incorporated Pulse-width modulation of pulse-code modulated signals at selectable or dynamically varying sample rates
DE102008024102A1 (de) * 2008-05-17 2009-12-03 Diehl Ako Stiftung & Co. Kg Motorsteuerung zum Ansteuern eines Elektromotors
DE102008054501A1 (de) * 2008-12-10 2010-06-17 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Betreiben eines Industrieroboters
JP2011055697A (ja) * 2009-08-03 2011-03-17 Hisashi Takahashi 有音化制御したモータ機構及び電気自動車
DE102010024238A1 (de) * 2010-06-18 2011-12-22 Kuka Laboratories Gmbh Verfahren und Vorrichtung zur Überwachung einer bewegungsgesteuerten Maschine mit einem elektronisch kommutierten Antriebsmotor
DE102012201562A1 (de) * 2012-02-02 2013-08-08 Dr. Johannes Heidenhain Gmbh Reglerstruktur zur Dämpfung niederfrequenter Schwingungen
FR2998637B1 (fr) * 2012-11-23 2015-06-26 Staubli Sa Ets Element femelle de raccord rapide et raccord rapide incorporant un tel element
FR3019953B1 (fr) 2014-04-09 2016-05-06 Staubli Sa Ets Procede de commande d'un robot multi-axes et robot pour la mise en oeuvre d'un tel procede

Also Published As

Publication number Publication date
CN107662207B (zh) 2022-03-22
US10613517B2 (en) 2020-04-07
EP3275605A1 (fr) 2018-01-31
US20180032061A1 (en) 2018-02-01
KR102380882B1 (ko) 2022-03-31
CN107662207A (zh) 2018-02-06
FR3054468A1 (fr) 2018-02-02
KR20180013776A (ko) 2018-02-07
FR3054468B1 (fr) 2018-08-31
EP3275605B1 (fr) 2019-03-06

Similar Documents

Publication Publication Date Title
EP3655200A4 (en) ROBOTIC ARM KINEMATICS FOR THE END EFFECTOR CONTROL
ITUB20160906A1 (it) Robot industriale multi-asse
JP2019525342A5 (ja) 自律移動ロボットを制御する方法
SG11201705624XA (en) Underwater manipulator arm robot
PL3184261T3 (pl) Wieloosiowy robot przemysłowy, w szczególności typu scara
EP3701216A4 (en) CARDAN SUSPENSION WITH MULTIPLE AXES FOR A CONTROLLER TO PROVIDE TACTILE FEEDBACK FOR THE ZERO COMMAND
TR201905774T4 (tr) Bir endüstriyel robotun kontrol edilmesi yöntemi.
EP3643459A4 (en) MANIPULATOR AND ROBOT
HUE058264T2 (hu) Robotkar létrehozása
TW201613731A (en) Robot
ITUA20163608A1 (it) Procedimento e dispositivo per il controllo della movimentazione di uno o più robot collaborativi
EP3587040A4 (en) MAIN CONTROL ARM AND ROBOT
DK3337646T3 (da) Leddelt robotarm
EP3600787A4 (en) ROBOT ARM
EP4260990A3 (en) Movable hardstop for a robotic component
EP3677390A4 (en) ARTICULATED ROBOTS
GB201517930D0 (en) Robot arm effectors
EP3365513A4 (en) ADAPTIVE CONTROL OF HYDRAULIC TOOL ON REMOTELY CONTROLLED DEMOLITION ROBOT
KR102277074B9 (ko) 로봇암을 구비하는 구난 작업 차량
EP3272470A4 (en) Industrial robot
EP3860545C0 (en) WEARABLE ACTIVE ROBOT WITH SENSOR DEVICE FOR FEEDBACK CONTROL
EP3660222A4 (en) WORK ARM FOR WORK MACHINE
GB2566534B (en) Robotic arm
GB2579596B (en) Robotic arm
GB201819824D0 (en) Robotic arm