DE3583132D1 - Robotsteuerungssystem. - Google Patents

Robotsteuerungssystem.

Info

Publication number
DE3583132D1
DE3583132D1 DE8585309165T DE3583132T DE3583132D1 DE 3583132 D1 DE3583132 D1 DE 3583132D1 DE 8585309165 T DE8585309165 T DE 8585309165T DE 3583132 T DE3583132 T DE 3583132T DE 3583132 D1 DE3583132 D1 DE 3583132D1
Authority
DE
Germany
Prior art keywords
control system
robot control
robot
control
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.)
Expired - Lifetime
Application number
DE8585309165T
Other languages
English (en)
Inventor
Masumi Tamari
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Original Assignee
Toshiba Corp
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 Toshiba Corp filed Critical Toshiba Corp
Application granted granted Critical
Publication of DE3583132D1 publication Critical patent/DE3583132D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • G05B19/18—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
    • G05B19/21—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 incremental digital measuring device
    • G05B19/23—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 incremental digital measuring device for point-to-point control
    • G05B19/231—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 incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/234—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 incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with current or torque feedback 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
    • 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
    • G05B19/406—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 monitoring or safety
    • G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40087—Align hand on workpiece to pick up workpiece, peg and hole
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42268—Safety, excess in error
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42288—Limit, stop drive current if axis obstructed, blocked, force against stop
    • 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
    • G05B2219/50112—Retract tool to a point

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Safety Devices In Control Systems (AREA)
DE8585309165T 1984-12-17 1985-12-16 Robotsteuerungssystem. Expired - Lifetime DE3583132D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59264626A JPS61143803A (ja) 1984-12-17 1984-12-17 ロボツトの制御装置

Publications (1)

Publication Number Publication Date
DE3583132D1 true DE3583132D1 (de) 1991-07-11

Family

ID=17405949

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8585309165T Expired - Lifetime DE3583132D1 (de) 1984-12-17 1985-12-16 Robotsteuerungssystem.

Country Status (4)

Country Link
US (1) US4682089A (de)
EP (1) EP0188109B1 (de)
JP (1) JPS61143803A (de)
DE (1) DE3583132D1 (de)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2727315B2 (ja) * 1985-10-25 1998-03-11 ファナック 株式会社 射出成形機の保圧制御方法
US4825376A (en) * 1986-04-17 1989-04-25 Glasstech International L.P. Controller for glass sheet processing system
JPS62299320A (ja) * 1986-06-19 1987-12-26 Fanuc Ltd 射出成形機の自動原点調整方式
JP2638594B2 (ja) * 1986-11-08 1997-08-06 フアナツク株式会社 デイジタルサーボシステム
US4864206A (en) * 1986-11-20 1989-09-05 Westinghouse Electric Corp. Multiaxis robot control having improved energy monitoring system for protecting robots against joint motor overload
US4868474A (en) * 1986-11-20 1989-09-19 Westinghouse Electric Corp. Multiprocessor position/velocity servo control for multiaxis digital robot control system
US4868472A (en) * 1986-11-20 1989-09-19 Unimation Inc. Communication interface for multi-microprocessor servo control in a multi-axis robot control system
US4874997A (en) * 1986-11-20 1989-10-17 Unimation, Inc. Digital robot control providing pulse width modulation for a brushless DC drive
US4864204A (en) * 1986-11-20 1989-09-05 Westinghouse Electric Corp. Multiprocessor torque servo control for multiaxis digital robot control system
US4894598A (en) * 1986-11-20 1990-01-16 Staubli International Ag Digital robot control having an improved pulse width modulator
US4876494A (en) * 1986-11-20 1989-10-24 Unimation, Inc. Position and velocity feedback system for a digital robot control
US4902944A (en) * 1986-11-20 1990-02-20 Staubli International Ag. Digital robot control having an improved current sensing system for power amplifiers in a digital robot control
JPH0218601A (ja) * 1988-07-07 1990-01-22 Mitsubishi Electric Corp サーボ制御装置
JPH02146602A (ja) * 1988-08-11 1990-06-05 Fanuc Ltd サーボモータにより駆動される被駆動体の衝突検出・停出方法
US5198984A (en) * 1988-08-31 1993-03-30 Okuma Corporation Numerical control method for correcting machine tool path errors
EP0385459A3 (de) * 1989-03-02 1990-11-14 Toyoda Koki Kabushiki Kaisha Gerät zur Synchronisierkontrolle
US5313861A (en) * 1989-12-15 1994-05-24 Fanuc Ltd. Workpiece exchanging system
JP2702575B2 (ja) * 1989-12-15 1998-01-21 ファナック株式会社 ワーク交換方法
JP2608161B2 (ja) * 1990-03-29 1997-05-07 ファナック株式会社 産業用ロボットの停止制御方法
US5283751A (en) * 1990-04-24 1994-02-01 Tornos-Bechler Sa, Fabrique De Machines Moutier Control device and method for an incremental numerical axis in a machining station
US5227703A (en) * 1992-04-21 1993-07-13 General Electric Company Protection system for alternating current, battery powered electric traction motor vehicle
JPH06245561A (ja) * 1993-02-10 1994-09-02 Fanuc Ltd サーボモータの異常負荷検出制御方法
JPH06332538A (ja) * 1993-05-19 1994-12-02 Fanuc Ltd 柔軟なサーボ制御方法
US5841257A (en) * 1994-01-18 1998-11-24 Fanuc, Ltd. Circuit for supplying/interrupting power to robots
WO1997010081A1 (fr) * 1995-09-11 1997-03-20 Kabushiki Kaisha Yaskawa Denki Circuit de commande de robots
US5945798A (en) * 1998-08-27 1999-08-31 Eastman Kodak Company System for determining part presence and grip pressure for a robotic gripping device
JP3459973B2 (ja) * 1999-10-22 2003-10-27 川崎重工業株式会社 駆動制御方法および駆動制御装置
KR100753162B1 (ko) 2005-12-29 2007-08-30 주식회사 탑 엔지니어링 모터의 포지션 에러를 이용한 기판 위치 검출 방법 및 이를이용한 스크라이버
DE102010015407A1 (de) * 2010-04-19 2011-10-20 Kuka Laboratories Gmbh Roboter und Verfahren zum Betreiben eines Roboters
US9815193B2 (en) 2011-06-27 2017-11-14 Delaware Capital Formation, Inc. Electric motor based holding control systems and methods
WO2014071989A1 (en) * 2012-11-09 2014-05-15 Abb Technology Ltd Robot control with improved safety
DE102021000741A1 (de) 2020-03-03 2021-09-09 Sew-Eurodrive Gmbh & Co Kg Verfahren zum Betreiben einer Maschine und Anlage zur Durchführung des Verfahrens

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1171214A (en) * 1967-04-27 1969-11-19 Telehoist Ltd Improvements in Servo Systems
JPS5218355B1 (de) * 1971-02-18 1977-05-20
JPS50132386A (de) * 1974-03-08 1975-10-20
DE2837842A1 (de) * 1978-08-30 1980-03-13 Anschuetz & Co Gmbh Anordnung zum ueberwachen einer rudersteueranlage
JPS5731003A (en) * 1980-08-01 1982-02-19 Fanuc Ltd Numerical control system
JPS5760408A (en) * 1980-09-30 1982-04-12 Okuma Mach Works Ltd Numerical control system capable of controlling external interruption
JPS57113118A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57144638A (en) * 1981-02-26 1982-09-07 Koichiro Kitamura Protective device for automatic tool changing device
JPS5981094A (ja) * 1982-11-02 1984-05-10 株式会社日立製作所 自動機械
JPS60230204A (ja) * 1984-04-27 1985-11-15 Toyoda Mach Works Ltd 可動体移動制御装置における保安装置

Also Published As

Publication number Publication date
EP0188109B1 (de) 1991-06-05
JPS61143803A (ja) 1986-07-01
EP0188109A3 (en) 1987-10-28
EP0188109A2 (de) 1986-07-23
US4682089A (en) 1987-07-21

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee