DE3787342D1 - Steuersystem für einen Industrieroboter mit einer Voraussichtsfunktion. - Google Patents
Steuersystem für einen Industrieroboter mit einer Voraussichtsfunktion.Info
- Publication number
- DE3787342D1 DE3787342D1 DE87308743T DE3787342T DE3787342D1 DE 3787342 D1 DE3787342 D1 DE 3787342D1 DE 87308743 T DE87308743 T DE 87308743T DE 3787342 T DE3787342 T DE 3787342T DE 3787342 D1 DE3787342 D1 DE 3787342D1
- Authority
- DE
- Germany
- Prior art keywords
- control system
- industrial robot
- foresight
- function
- foresight function
- 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 - Fee Related
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
- G05B19/42—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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61234772A JPH07104692B2 (ja) | 1986-10-02 | 1986-10-02 | 予見追跡制御型ロボツト |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3787342D1 true DE3787342D1 (de) | 1993-10-14 |
DE3787342T2 DE3787342T2 (de) | 1994-02-24 |
Family
ID=16976122
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE87308743T Expired - Fee Related DE3787342T2 (de) | 1986-10-02 | 1987-10-02 | Steuersystem für einen Industrieroboter mit einer Voraussichtsfunktion. |
Country Status (4)
Country | Link |
---|---|
US (1) | US4831316A (de) |
EP (1) | EP0266070B1 (de) |
JP (1) | JPH07104692B2 (de) |
DE (1) | DE3787342T2 (de) |
Families Citing this family (64)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4965499A (en) * | 1987-12-31 | 1990-10-23 | Westinghouse Electric Corp | Parametric path modeling for an optical automatic seam tracker and real time robotic control system |
US4843287A (en) * | 1987-12-31 | 1989-06-27 | Westinghouse Electric Corp. | Path contriving system for look-ahead sensor in a robotic control system |
JPH02210506A (ja) * | 1987-12-31 | 1990-08-21 | Westinghouse Electric Corp <We> | ロボット制御方法及びシステム |
US4833381A (en) * | 1987-12-31 | 1989-05-23 | Westinghouse Electric Corp. | Optical automatic seam tracker and real time control system for an industrial robot |
CH677745A5 (de) * | 1988-02-15 | 1991-06-28 | Amada Co Ltd | |
US5017082A (en) * | 1988-03-07 | 1991-05-21 | Tokyo Electron Limited | Handling apparatus |
JP2708458B2 (ja) * | 1988-04-01 | 1998-02-04 | 株式会社豊田中央研究所 | 倣い制御ロボット |
US4969108A (en) * | 1988-04-08 | 1990-11-06 | Cincinnati Milacron Inc. | Vision seam tracking method and apparatus for a manipulator |
JP2676793B2 (ja) * | 1988-06-30 | 1997-11-17 | トヨタ自動車株式会社 | 倣い制御ロボット |
JP2512099B2 (ja) * | 1988-08-24 | 1996-07-03 | 松下電器産業株式会社 | ロボットの動作教示方法および制御装置 |
US4952772A (en) * | 1988-11-16 | 1990-08-28 | Westinghouse Electric Corp. | Automatic seam tracker and real time error cumulative control system for an industrial robot |
JPH081819Y2 (ja) * | 1989-08-23 | 1996-01-24 | 豊田工機株式会社 | ロボット制御装置 |
DE4026759A1 (de) * | 1989-09-14 | 1991-03-28 | Gen Electric | Mit schweissstossverfolgung arbeitendes laserschweisssystem |
DE3938851C1 (de) * | 1989-11-23 | 1990-11-22 | Maho Ag, 8962 Pfronten, De | |
JPH0433104U (de) * | 1990-07-11 | 1992-03-18 | ||
US5083073A (en) * | 1990-09-20 | 1992-01-21 | Mazada Motor Manufacturing U.S.A. Corp. | Method and apparatus for calibrating a vision guided robot |
JPH04101102U (ja) * | 1991-01-31 | 1992-09-01 | 豊田工機株式会社 | 倣い加工装置 |
JPH05143139A (ja) * | 1991-11-21 | 1993-06-11 | Fanuc Ltd | ワーク加工再開方法 |
US5761390A (en) * | 1991-12-12 | 1998-06-02 | Hitachi, Ltd. | Robot for removing unnecessary portion on workpiece |
US5255096B1 (en) * | 1992-04-10 | 1997-12-23 | William M Boyle | Video time code synchronized robot control apparatus |
US5339103A (en) * | 1992-08-18 | 1994-08-16 | Schmidt Robert H | Part machining programming using a camera interchangeable with maching nozzle |
JPH06149327A (ja) * | 1992-11-12 | 1994-05-27 | Fanuc Ltd | リアルタイム位置補正方法 |
GB9300403D0 (en) * | 1993-01-11 | 1993-03-03 | Huissoon Jan P | Dynamic seam tracking with redundant axes control |
US5657394A (en) * | 1993-06-04 | 1997-08-12 | Integrated Technology Corporation | Integrated circuit probe card inspection system |
JPH0816221A (ja) * | 1994-06-28 | 1996-01-19 | Fanuc Ltd | レーザセンサを用いたロボット教示経路の変更方法 |
US5987726A (en) | 1996-03-11 | 1999-11-23 | Fanuc Robotics North America, Inc. | Programmable positioner for the stress-free assembly of components |
JP3799581B2 (ja) * | 1996-04-09 | 2006-07-19 | 旭硝子株式会社 | ガラス成形装置 |
US5959425A (en) * | 1998-10-15 | 1999-09-28 | Fanuc Robotics North America, Inc. | Vision guided automatic robotic path teaching method |
US6327520B1 (en) | 1999-08-31 | 2001-12-04 | Intelligent Machine Concepts, L.L.C. | Planar normality sensor |
US6259519B1 (en) | 1999-08-31 | 2001-07-10 | Intelligent Machine Concepts, L.L.C. | Method of determining the planar inclination of a surface |
US6374158B1 (en) * | 2000-02-15 | 2002-04-16 | General Electric Company | Robotic laser pointer |
US6285920B1 (en) | 2000-02-18 | 2001-09-04 | Fanuc Robotics North America | Method of robot teaching with motion constraints |
JP3806342B2 (ja) * | 2001-11-26 | 2006-08-09 | 三菱重工業株式会社 | 3次元形状物溶接方法及びその装置 |
JP2005108144A (ja) * | 2003-10-02 | 2005-04-21 | Fanuc Ltd | ロボットの補正データ確認装置 |
CA2489941C (en) * | 2003-12-18 | 2012-08-14 | Comau S.P.A. | A method and device for laser welding |
DE102004011769B3 (de) * | 2004-03-09 | 2005-08-18 | Kuka Schweissanlagen Gmbh | Verfahren zum Laserbearbeiten und Lasereinrichtung |
ITTO20040361A1 (it) * | 2004-05-28 | 2004-08-28 | Comau Spa | Metodo e dispositivo per saldatura laser remota mediante robot, con controllo semplificato della direzione di focalizzazione del fascio laser. |
JP4857534B2 (ja) * | 2004-07-13 | 2012-01-18 | パナソニック株式会社 | アーク溶接ロボット |
US20060042083A1 (en) * | 2004-08-27 | 2006-03-02 | Baker Martin C | Repair of turbines on wing |
DE102004042135A1 (de) * | 2004-08-30 | 2006-03-02 | Iht Automation Gmbh & Co. Kg | Verfahren zur Einstellung mindestens eines vorgegebenen Abstands zwischen einem Bearbeitungswerkzeug und einem metallischen Werkstück |
JP2006154924A (ja) * | 2004-11-25 | 2006-06-15 | Denso Wave Inc | 自動化設備システム |
JP4922584B2 (ja) * | 2004-12-10 | 2012-04-25 | 株式会社安川電機 | ロボットシステム |
JP2006331255A (ja) * | 2005-05-30 | 2006-12-07 | Daihen Corp | 産業用ロボットの制御方法 |
JP2007098464A (ja) * | 2005-10-07 | 2007-04-19 | Nissan Motor Co Ltd | レーザー加工ロボット制御装置、レーザー加工ロボット制御方法およびレーザー加工ロボット制御プログラム |
DE102007008903A1 (de) * | 2007-02-23 | 2008-08-28 | Abb Technology Ag | Einrichtung zum Steuern eines Roboters |
DE102007062952A1 (de) * | 2007-12-21 | 2009-07-02 | Karosseriewerke Dresden Gmbh | Verfahren und Einrichtung zum Schweißen von Sitzstrukturen sowie Sitz |
WO2009102767A2 (en) * | 2008-02-11 | 2009-08-20 | Fanuc Robotics America, Inc. | Method of controlling a robot for small shape generation |
DE102008047575B4 (de) * | 2008-09-17 | 2012-09-27 | Leica Biosystems Nussloch Gmbh | Gerät zur Handhabung mindestens eines Objektträgers |
US7908757B2 (en) | 2008-10-16 | 2011-03-22 | Hexagon Metrology, Inc. | Articulating measuring arm with laser scanner |
JP2010120123A (ja) * | 2008-11-20 | 2010-06-03 | Yamaha Motor Co Ltd | 直交ロボット、該直交ロボットを備えた部品実装装置および前記直交ロボットの制御方法 |
US8099877B2 (en) | 2009-11-06 | 2012-01-24 | Hexagon Metrology Ab | Enhanced position detection for a CMM |
CA2796369A1 (en) * | 2010-04-13 | 2011-10-20 | National Research Council Of Canada | Laser processing control method |
US8763267B2 (en) | 2012-01-20 | 2014-07-01 | Hexagon Technology Center Gmbh | Locking counterbalance for a CMM |
WO2015079740A1 (ja) * | 2013-11-28 | 2015-06-04 | 三菱電機株式会社 | ロボットシステムおよびロボットシステムの制御方法 |
JP2015171746A (ja) * | 2014-03-12 | 2015-10-01 | ファナック株式会社 | 制動部を備えた駆動軸を有する産業用ロボット |
CA2946081A1 (en) | 2014-04-16 | 2015-10-22 | University Of Southern California | Automated construction of towers and columns |
ITUB20154937A1 (it) * | 2015-11-03 | 2017-05-03 | Scm Group Spa | Dispositivo di lavorazione perfezionato e relativo metodo di funzionamento. |
JP6496340B2 (ja) * | 2017-03-17 | 2019-04-03 | ファナック株式会社 | スキャナ制御装置、ロボット制御装置及びリモートレーザ溶接ロボットシステム |
JP6517871B2 (ja) * | 2017-04-25 | 2019-05-22 | ファナック株式会社 | 溶接ロボットの教示システムおよび教示方法 |
JP7179844B2 (ja) | 2017-11-13 | 2022-11-29 | ヘキサゴン メトロロジー,インコーポレイテッド | 光学スキャニング装置の熱管理 |
JP6836558B2 (ja) * | 2018-08-31 | 2021-03-03 | ファナック株式会社 | レーザ加工のための教示装置 |
WO2020250306A1 (ja) * | 2019-06-11 | 2020-12-17 | 株式会社安川電機 | 制御システム、監視装置、監視方法、及びプログラム |
JP2020203349A (ja) * | 2019-06-18 | 2020-12-24 | 株式会社ダイヘン | ロボット制御装置、及びロボット制御システム |
JP7249242B2 (ja) * | 2019-08-22 | 2023-03-30 | 川崎重工業株式会社 | シーリングロボット |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2217117A1 (en) * | 1973-02-08 | 1974-09-06 | Inst Avtomatiki Min | Photoelectric arc welding electrode control - based on photocells for joint and weld and two servo systems |
FR2475445A1 (fr) * | 1980-02-13 | 1981-08-14 | Commissariat Energie Atomique | Procede automatique et autoadaptatif de soudage par fusion et dispositif pour la mise en oeuvre de ce procede |
JPS5880192U (ja) * | 1981-11-25 | 1983-05-31 | トキコ株式会社 | 工業用ロボツト |
DE3244307A1 (de) * | 1982-11-30 | 1984-05-30 | Siemens AG, 1000 Berlin und 8000 München | Robotersteuerung |
IT1174831B (it) * | 1983-11-30 | 1987-07-01 | Armco Spa | Macchina elettrosaldatrice automatica |
US4675502A (en) * | 1985-12-23 | 1987-06-23 | General Electric Company | Real time tracking control for taught path robots |
-
1986
- 1986-10-02 JP JP61234772A patent/JPH07104692B2/ja not_active Expired - Fee Related
-
1987
- 1987-10-01 US US07/103,403 patent/US4831316A/en not_active Expired - Lifetime
- 1987-10-02 EP EP87308743A patent/EP0266070B1/de not_active Expired - Lifetime
- 1987-10-02 DE DE87308743T patent/DE3787342T2/de not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP0266070A3 (en) | 1989-08-16 |
JPH07104692B2 (ja) | 1995-11-13 |
DE3787342T2 (de) | 1994-02-24 |
JPS6388612A (ja) | 1988-04-19 |
EP0266070B1 (de) | 1993-09-08 |
EP0266070A2 (de) | 1988-05-04 |
US4831316A (en) | 1989-05-16 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8320 | Willingness to grant licences declared (paragraph 23) | ||
8339 | Ceased/non-payment of the annual fee |