DE60044682D1 - Verfahren und gerät zur steuerung und positionierung eines roboters - Google Patents
Verfahren und gerät zur steuerung und positionierung eines robotersInfo
- Publication number
- DE60044682D1 DE60044682D1 DE60044682T DE60044682T DE60044682D1 DE 60044682 D1 DE60044682 D1 DE 60044682D1 DE 60044682 T DE60044682 T DE 60044682T DE 60044682 T DE60044682 T DE 60044682T DE 60044682 D1 DE60044682 D1 DE 60044682D1
- Authority
- DE
- Germany
- Prior art keywords
- robot
- positioning
- controlling
- 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
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
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- 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
-
- 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
-
- 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
- G05B2219/39357—Execute motion of path in minimum of time
-
- 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
- G05B2219/40466—Plan for minimum time trajectory, at least one joint maximum torque
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position Or Direction (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP35673799 | 1999-12-16 | ||
PCT/JP2000/008884 WO2001043924A1 (en) | 1999-12-16 | 2000-12-14 | Controlling method and apparatus for positioning a robot |
Publications (1)
Publication Number | Publication Date |
---|---|
DE60044682D1 true DE60044682D1 (de) | 2010-08-26 |
Family
ID=18450529
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE60044682T Expired - Lifetime DE60044682D1 (de) | 1999-12-16 | 2000-12-14 | Verfahren und gerät zur steuerung und positionierung eines roboters |
Country Status (5)
Country | Link |
---|---|
US (1) | US6615110B2 (de) |
EP (1) | EP1250218B1 (de) |
JP (1) | JP4390415B2 (de) |
DE (1) | DE60044682D1 (de) |
WO (1) | WO2001043924A1 (de) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040185830A1 (en) * | 1996-08-08 | 2004-09-23 | Joao Raymond Anthony | Apparatus and method for providing account security |
US7483232B2 (en) * | 1999-03-04 | 2009-01-27 | Convolve, Inc. | Dynamic system control method |
JP3778424B2 (ja) * | 2001-09-06 | 2006-05-24 | ソニー株式会社 | 位置決め装置及び位置決め方法 |
GB2386970A (en) * | 2002-03-26 | 2003-10-01 | Mcmurtry Ltd | Environmentally responsive ground maintenance equipment |
US6911792B2 (en) * | 2003-05-20 | 2005-06-28 | Hewlett-Packard Development Company, L.P. | System and method for controlling movement |
AT502286B1 (de) * | 2004-09-15 | 2008-09-15 | Wfl Millturn Tech Gmbh & Co Kg | Verfahren zur kollisionsvermeidung |
JP4541218B2 (ja) | 2005-04-08 | 2010-09-08 | 三菱電機株式会社 | 指令生成装置 |
US8295983B2 (en) * | 2008-11-10 | 2012-10-23 | Silent Printer Holdings, Llc | Apparatus and method for characterization and control of usage disturbances in a usage environment of printers and other dynamic systems |
JP2012232370A (ja) * | 2011-04-28 | 2012-11-29 | Seiko Epson Corp | ロボットコントローラー、簡易設置型ロボット、及び簡易設置型ロボットの制御方法 |
JP5857781B2 (ja) * | 2012-02-15 | 2016-02-10 | 日産自動車株式会社 | 電動モータを用いた車両の制振制御装置 |
US8532861B1 (en) * | 2012-06-02 | 2013-09-10 | Fukashi Andoh | Protective apparatus for electronic unit on unmanned space exploration vehicle |
US8711511B2 (en) * | 2012-06-19 | 2014-04-29 | International Business Machines Corporation | Vibration disturbance estimation and control |
US10864629B2 (en) * | 2013-03-15 | 2020-12-15 | Corindus, Inc. | System and method for controlling a position of an articulated robotic arm |
JP2014233774A (ja) * | 2013-05-31 | 2014-12-15 | 株式会社荏原製作所 | ロボットアーム制御装置、基板搬送装置、基板処理装置、ロボットアーム制御方法およびプログラム |
US9718187B2 (en) * | 2014-06-11 | 2017-08-01 | Canon Kabushiki Kaisha | Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component |
JP6472813B2 (ja) * | 2014-10-10 | 2019-02-20 | 株式会社Fuji | 搬送方法および搬送装置 |
JP6512790B2 (ja) * | 2014-10-24 | 2019-05-15 | キヤノン株式会社 | ロボット制御方法、ロボット装置、プログラム、記録媒体及び物品の製造方法 |
CN107533334B (zh) * | 2015-04-23 | 2020-11-27 | 三菱电机株式会社 | 定位控制装置 |
JP7186571B2 (ja) | 2018-10-10 | 2022-12-09 | 日本電産サンキョー株式会社 | ロボットの動作完了時刻の判定装置及び判定方法 |
JP6983206B2 (ja) * | 2019-10-15 | 2021-12-17 | 株式会社アルバック | 基板搬送装置、および、基板搬送方法 |
CN114932560B (zh) * | 2022-07-25 | 2022-11-22 | 山东贞元汽车车轮有限公司 | 一种机械臂抓取轮毂的自动控制方法和*** |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS592108A (ja) | 1982-06-29 | 1984-01-07 | Kobe Steel Ltd | ロボツト加速時における振動防止法 |
JP2918269B2 (ja) | 1990-02-01 | 1999-07-12 | 松下電器産業株式会社 | ロボットの移動制御方法 |
FR2670705B1 (fr) * | 1990-12-21 | 1993-04-09 | Bertin & Cie | Procede et commande d'un systeme mecanique flexible motorise a configuration variable, tel qu'un bras robot par exemple. |
WO1993022107A1 (en) | 1992-04-23 | 1993-11-11 | Kabushiki Kaisha Komatsu Seisakusho | Method of controlling industrial robot |
US5331264A (en) | 1993-04-15 | 1994-07-19 | Fanuc Robotics North America, Inc. | Method and device for generating an input command for a motion control system |
US5594309A (en) * | 1994-06-15 | 1997-01-14 | Iowa State University Research Foundation, Inc. | Robot control scheme |
EP0695606A1 (de) | 1994-07-25 | 1996-02-07 | Consorzio per la Ricerca sulla Microelettronica nel Mezzogiorno - CoRiMMe | Fuzzy-Steuerungs-Prozess- und Einrichtung zur Positionierung und raschen Dämpfung mechanischer Schwingungen |
US6002232A (en) * | 1997-08-15 | 1999-12-14 | Iowa State University Research Foundation, Inc. | Robust vibration suppression methods and systems |
US6505085B1 (en) * | 1999-03-04 | 2003-01-07 | Massachusetts Institute Of Technology | Method and apparatus for creating time-optimal commands for linear systems |
-
2000
- 2000-12-14 JP JP2001545042A patent/JP4390415B2/ja not_active Expired - Fee Related
- 2000-12-14 EP EP00981738A patent/EP1250218B1/de not_active Expired - Lifetime
- 2000-12-14 DE DE60044682T patent/DE60044682D1/de not_active Expired - Lifetime
- 2000-12-14 WO PCT/JP2000/008884 patent/WO2001043924A1/en active Application Filing
- 2000-12-14 US US10/149,400 patent/US6615110B2/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
US20030083783A1 (en) | 2003-05-01 |
WO2001043924A1 (en) | 2001-06-21 |
JP4390415B2 (ja) | 2009-12-24 |
US6615110B2 (en) | 2003-09-02 |
EP1250218B1 (de) | 2010-07-14 |
EP1250218A1 (de) | 2002-10-23 |
JP2003517167A (ja) | 2003-05-20 |
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