CN1273546A - 控制机器人的***与方法 - Google Patents
控制机器人的***与方法 Download PDFInfo
- Publication number
- CN1273546A CN1273546A CN99801012A CN99801012A CN1273546A CN 1273546 A CN1273546 A CN 1273546A CN 99801012 A CN99801012 A CN 99801012A CN 99801012 A CN99801012 A CN 99801012A CN 1273546 A CN1273546 A CN 1273546A
- Authority
- CN
- China
- Prior art keywords
- control system
- positioning head
- robot
- adjusting device
- set point
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000001915 proofreading effect Effects 0.000 claims description 3
- 230000007306 turnover Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Images
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
- G05B19/18—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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/33—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
- G05B19/37—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for continuous-path control
-
- 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
-
- 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
- G05B2219/39221—Control angular position of joint by length of linear actuator
-
- 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)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
Claims (8)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE98022684 | 1998-06-25 | ||
SE9802268A SE512338C2 (sv) | 1998-06-25 | 1998-06-25 | System och metod för reglering av en robot |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1273546A true CN1273546A (zh) | 2000-11-15 |
CN1126644C CN1126644C (zh) | 2003-11-05 |
Family
ID=20411841
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN99801012A Expired - Lifetime CN1126644C (zh) | 1998-06-25 | 1999-06-17 | 控制机器人的***与方法 |
Country Status (14)
Country | Link |
---|---|
US (1) | US6301525B1 (zh) |
EP (1) | EP1007294B1 (zh) |
JP (1) | JP2002518198A (zh) |
KR (1) | KR100591512B1 (zh) |
CN (1) | CN1126644C (zh) |
AT (1) | ATE336338T1 (zh) |
AU (1) | AU4941799A (zh) |
BR (1) | BR9906559A (zh) |
CA (1) | CA2300296C (zh) |
DE (1) | DE69932791T2 (zh) |
ES (1) | ES2277442T3 (zh) |
RU (1) | RU2222423C2 (zh) |
SE (1) | SE512338C2 (zh) |
WO (1) | WO1999067066A1 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005025816A1 (fr) * | 2003-09-16 | 2005-03-24 | Tianjin University | Robot dote d'une structure mixte libre de couplage a cinq elements |
CN100348375C (zh) * | 2005-07-11 | 2007-11-14 | 天津大学 | 五自由度机器人 |
CN1823310B (zh) * | 2003-05-22 | 2010-10-13 | Abb股份有限公司 | 控制工业机器人的设备和方法 |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4632560B2 (ja) | 2000-03-01 | 2011-02-16 | シーグ パック システムズ アクチェンゲゼルシャフト | 三次元空間内で製品を操作するロボット |
EP1129829A1 (en) * | 2000-03-01 | 2001-09-05 | SIG Pack Systems AG | Robot for handling products in a three-dimensional space |
ES2205970B1 (es) * | 2001-05-10 | 2005-07-16 | Fundacion Fatronik | Sistema cinematico para cabezal de maquina. |
US6896473B2 (en) | 2001-09-17 | 2005-05-24 | Robert Bosch Gmbh | Device for transmitting torque |
US6808344B2 (en) * | 2002-12-27 | 2004-10-26 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
US20050072655A1 (en) | 2003-10-03 | 2005-04-07 | Glen Raque | Transport system |
SE527697C2 (sv) * | 2003-11-20 | 2006-05-16 | Parallel Kinematics Machines S | Metod för tillverkning av ett underlag till en skala på en gyroring, och en anordning tillverkad enligt metoden |
US7549355B2 (en) * | 2003-12-02 | 2009-06-23 | Robert Bosch Gmbh | Rotary leadthrough of a robot arm |
SE527873C2 (sv) * | 2004-11-18 | 2006-07-04 | Exechon Ab | Parallellkinematisk maskin |
DK2461948T3 (da) | 2009-08-04 | 2014-01-20 | Majatronic Gmbh | Parallelrobot |
DE102010006504B4 (de) * | 2010-01-28 | 2013-11-21 | Chiron-Werke Gmbh & Co. Kg | Verfahren zur Bestimmung der Position eines Werkzeuges |
SE535182C2 (sv) * | 2010-06-17 | 2012-05-08 | Exechon Ab | En parallellkinematisk maskin med kardanhållare |
CZ304634B6 (cs) * | 2012-11-16 | 2014-08-13 | ÄŚVUT v Praze, Fakulta strojnĂ | Zařízení pro měření polohy koncového efektoru, zvláště manipulátoru nebo obráběcího stroje |
RU2500010C1 (ru) * | 2012-12-19 | 2013-11-27 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Омский государственный технический университет" | Устройство для управления пространственным положением обрабатываемой детали на станке |
US9259792B2 (en) | 2013-08-26 | 2016-02-16 | The Boeing Company | 5-axis hole transfer system and method |
KR101563787B1 (ko) | 2013-11-26 | 2015-10-27 | 한전케이피에스 주식회사 | 다축 이송시스템의 위치 전송 장치 및 그 방법 |
CN103753235B (zh) * | 2014-01-03 | 2016-09-21 | 清华大学 | 一种基于并联模块的多轴联动装置 |
CN104523417A (zh) * | 2014-11-24 | 2015-04-22 | 周维虎 | 一种气动、重力加载式激光三维定位中医推拿机器人 |
CN105945954B (zh) * | 2016-06-21 | 2017-11-28 | 天津大学 | 一种五自由度混联机器人的双闭环控制方法 |
CN106378770B (zh) * | 2016-11-09 | 2018-10-02 | 南京理工大学 | 一种可实现两平一转的三自由度机器人机构 |
CN109128872B (zh) * | 2018-09-26 | 2019-09-17 | 燕山大学 | 一种能够实现多方向定点转动的对称三轴并联主轴头 |
CN111650882A (zh) * | 2020-05-29 | 2020-09-11 | 天津大学 | 一种基于粗插补的混联机器人误差在线补偿***及方法 |
CN111775145B (zh) * | 2020-06-01 | 2023-05-16 | 上海大学 | 一种串并联机器人的控制*** |
NL2029419B1 (en) * | 2021-10-14 | 2023-05-16 | Qingdao Univ Of Science And Technology | Movement device and operation equipment |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4163183A (en) * | 1975-10-28 | 1979-07-31 | Unimation, Inc. | Programmable automatic assembly system |
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 |
HU185955B (en) * | 1981-09-14 | 1985-04-28 | Csepel Muevek Szerszamgepgyar | Method and connection arrangement for controlling the positioning for radial drilling machines |
US4790718A (en) | 1985-03-27 | 1988-12-13 | The English Electric Company Plc | Manipulators |
SE452279B (sv) * | 1985-05-10 | 1987-11-23 | Neos Products Hb | Robot |
US5813287A (en) * | 1994-03-02 | 1998-09-29 | Renishaw Plc | Coordinate positioning machine |
US5797191A (en) * | 1996-09-25 | 1998-08-25 | University Of Florida | Parallel kinematic structure for spatial positioning devices and method of initializing same |
SE509505C2 (sv) * | 1996-02-20 | 1999-02-01 | Neos Robotics Ab | Positioneringsmetod och positioneringsanordning f ör ett produktionssystem |
US5987726A (en) * | 1996-03-11 | 1999-11-23 | Fanuc Robotics North America, Inc. | Programmable positioner for the stress-free assembly of components |
-
1998
- 1998-06-25 SE SE9802268A patent/SE512338C2/sv not_active IP Right Cessation
-
1999
- 1999-06-17 AU AU49417/99A patent/AU4941799A/en not_active Abandoned
- 1999-06-17 RU RU2000104508/02A patent/RU2222423C2/ru active
- 1999-06-17 JP JP2000555735A patent/JP2002518198A/ja active Pending
- 1999-06-17 CA CA002300296A patent/CA2300296C/en not_active Expired - Lifetime
- 1999-06-17 WO PCT/SE1999/001095 patent/WO1999067066A1/en active IP Right Grant
- 1999-06-17 BR BR9906559-2A patent/BR9906559A/pt not_active IP Right Cessation
- 1999-06-17 CN CN99801012A patent/CN1126644C/zh not_active Expired - Lifetime
- 1999-06-17 DE DE69932791T patent/DE69932791T2/de not_active Expired - Lifetime
- 1999-06-17 KR KR1020007001896A patent/KR100591512B1/ko active IP Right Grant
- 1999-06-17 ES ES99933350T patent/ES2277442T3/es not_active Expired - Lifetime
- 1999-06-17 US US09/486,023 patent/US6301525B1/en not_active Expired - Lifetime
- 1999-06-17 AT AT99933350T patent/ATE336338T1/de not_active IP Right Cessation
- 1999-06-17 EP EP99933350A patent/EP1007294B1/en not_active Expired - Lifetime
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1823310B (zh) * | 2003-05-22 | 2010-10-13 | Abb股份有限公司 | 控制工业机器人的设备和方法 |
WO2005025816A1 (fr) * | 2003-09-16 | 2005-03-24 | Tianjin University | Robot dote d'une structure mixte libre de couplage a cinq elements |
CN100348375C (zh) * | 2005-07-11 | 2007-11-14 | 天津大学 | 五自由度机器人 |
Also Published As
Publication number | Publication date |
---|---|
JP2002518198A (ja) | 2002-06-25 |
AU4941799A (en) | 2000-01-10 |
ES2277442T3 (es) | 2007-07-01 |
CA2300296A1 (en) | 1999-12-29 |
BR9906559A (pt) | 2000-08-15 |
ATE336338T1 (de) | 2006-09-15 |
SE9802268D0 (sv) | 1998-06-25 |
WO1999067066A1 (en) | 1999-12-29 |
SE9802268L (sv) | 1999-12-26 |
RU2222423C2 (ru) | 2004-01-27 |
EP1007294B1 (en) | 2006-08-16 |
EP1007294A1 (en) | 2000-06-14 |
KR100591512B1 (ko) | 2006-06-20 |
CA2300296C (en) | 2008-05-13 |
SE512338C2 (sv) | 2000-02-28 |
KR20010023263A (ko) | 2001-03-26 |
DE69932791D1 (de) | 2006-09-28 |
US6301525B1 (en) | 2001-10-09 |
DE69932791T2 (de) | 2007-08-16 |
CN1126644C (zh) | 2003-11-05 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
ASS | Succession or assignment of patent right |
Owner name: PINGXING SPORTS MOTOR CO.,LTD. Free format text: FORMER OWNER: SMT TELAYSAY PUTER STOCK CO., LTD. Effective date: 20050218 |
|
C41 | Transfer of patent application or patent right or utility model | ||
C56 | Change in the name or address of the patentee |
Owner name: SMT TELAYSAY PUTER STOCK CO., LTD. Free format text: FORMER NAME OR ADDRESS: NEOS ROBOTICS AB |
|
CP03 | Change of name, title or address |
Address after: Swedish MAKTABI Patentee after: SMT Telaisaipu special Co.,Ltd. Address before: Swedish MAKTABI Patentee before: Neos Robotics AB |
|
TR01 | Transfer of patent right |
Effective date of registration: 20050218 Address after: Vitoria, Spain Patentee after: Parallel motion machine Co. Address before: Swedish MAKTABI Patentee before: SMT Telaisaipu special Co.,Ltd. |
|
ASS | Succession or assignment of patent right |
Owner name: LOXIN 2002 S. L. Free format text: FORMER OWNER: PARALLEL KINEMATICS MACHINES, CORP. Effective date: 20150601 |
|
C41 | Transfer of patent application or patent right or utility model | ||
TR01 | Transfer of patent right |
Effective date of registration: 20150601 Address after: The Spanish ace Navarra KLES 31191 PA Baolige Nobel Industrial Zone second A Street No. 37 Patentee after: LOXIN 2002, S.L. Address before: Vitoria, Spain Patentee before: Parallel motion machine Co. |
|
CX01 | Expiry of patent term |
Granted publication date: 20031105 |
|
CX01 | Expiry of patent term |