DE69221582D1 - Vorrichtung zur steuerung eines industriellen roboters - Google Patents

Vorrichtung zur steuerung eines industriellen roboters

Info

Publication number
DE69221582D1
DE69221582D1 DE69221582T DE69221582T DE69221582D1 DE 69221582 D1 DE69221582 D1 DE 69221582D1 DE 69221582 T DE69221582 T DE 69221582T DE 69221582 T DE69221582 T DE 69221582T DE 69221582 D1 DE69221582 D1 DE 69221582D1
Authority
DE
Germany
Prior art keywords
controlling
industrial robot
robot
industrial
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
DE69221582T
Other languages
English (en)
Inventor
Shinichi Sarugaku
Toru Kurenuma
Takeshi Andoh
Masami Otomo
Kyoichi Kawasaki
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.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
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 Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Application granted granted Critical
Publication of DE69221582D1 publication Critical patent/DE69221582D1/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
    • G05B19/42—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
    • 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
    • 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
    • G05B2219/36399—On excess error or on release joystick stop movement, dead man, shut off motors
    • 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
    • G05B2219/36473—Prohibit teaching if force, speed, acceleration of end effector is out of safe range
    • 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
    • G05B2219/42123—Position loop then force, current loop

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE69221582T 1991-05-21 1992-05-14 Vorrichtung zur steuerung eines industriellen roboters Expired - Lifetime DE69221582D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3144035A JP2812582B2 (ja) 1991-05-21 1991-05-21 産業用ロボットの制御装置
PCT/JP1992/000616 WO1992021076A1 (en) 1991-05-21 1992-05-14 System for controlling industrial robot

Publications (1)

Publication Number Publication Date
DE69221582D1 true DE69221582D1 (de) 1997-09-18

Family

ID=15352808

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69221582T Expired - Lifetime DE69221582D1 (de) 1991-05-21 1992-05-14 Vorrichtung zur steuerung eines industriellen roboters

Country Status (5)

Country Link
US (1) US5363474A (de)
EP (1) EP0540753B1 (de)
JP (1) JP2812582B2 (de)
DE (1) DE69221582D1 (de)
WO (1) WO1992021076A1 (de)

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JP3215086B2 (ja) * 1998-07-09 2001-10-02 ファナック株式会社 ロボット制御装置
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DE10137955B4 (de) * 2001-08-07 2007-02-22 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Bewegungskommandierung eines Serviceroboters
JP4513568B2 (ja) * 2002-07-18 2010-07-28 株式会社安川電機 ロボット制御装置
JP4490210B2 (ja) * 2004-08-19 2010-06-23 本田技研工業株式会社 運動体の制御システム
US8078338B2 (en) 2004-10-22 2011-12-13 Irobot Corporation System and method for behavior based control of an autonomous vehicle
US7533798B2 (en) * 2006-02-23 2009-05-19 Rockwell Automation Technologies, Inc. Data acquisition and processing system for risk assessment
DE102010063208A1 (de) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Verfahren zum Betreiben einer Sicherungseinrichtung für eine Handhabungsvorrichtung, Sicherungseinrichtung für eine Handhabungsvorrichtung und Handhabungsvorrichtung
CN108606837B (zh) 2013-03-15 2021-05-28 史赛克公司 手术机器人臂的端部执行器
JP5768828B2 (ja) * 2013-03-15 2015-08-26 株式会社安川電機 ロボットシステム、及び、ロボットシステムの制御方法
KR102002414B1 (ko) * 2013-05-27 2019-07-23 삼성전자주식회사 식기 세척기
CN106102632B (zh) * 2014-03-17 2019-06-14 直观外科手术操作公司 在程序中重启期间修复器械控制输入方位/定向
DE102014010638A1 (de) * 2014-07-17 2016-01-21 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Roboters
CN104589333B (zh) * 2015-01-27 2016-01-27 浙江理工大学 具有五自由度的码垛机械臂
JP6034900B2 (ja) * 2015-03-06 2016-11-30 ファナック株式会社 動作プログラムの再開を判断するロボット制御装置
DE102015008144B4 (de) * 2015-06-24 2024-01-18 Kuka Roboter Gmbh Umschalten einer Steuerung eines Roboters in einen Handführ-Betriebsmodus
JP6851837B2 (ja) * 2017-01-20 2021-03-31 キヤノン株式会社 制御装置、ロボットシステム、制御方法、プログラム、記録媒体及び物品の製造方法
JP6606145B2 (ja) 2017-09-25 2019-11-13 ファナック株式会社 ロボットシステム
JP7082365B2 (ja) * 2018-03-20 2022-06-08 ユニパルス株式会社 パラレルリンクロボット
JP7135437B2 (ja) 2018-05-22 2022-09-13 セイコーエプソン株式会社 ロボットシステムの制御方法及びロボットシステム
JP6836557B2 (ja) * 2018-08-30 2021-03-03 ファナック株式会社 人間協調ロボットシステム
JP7211007B2 (ja) 2018-10-30 2023-01-24 セイコーエプソン株式会社 制御装置、ロボットシステムおよび制御方法
JP2019061715A (ja) * 2018-12-17 2019-04-18 ファナック株式会社 可動部を直接手動で操作可能な数値制御工作機械
JP7161394B2 (ja) * 2018-12-21 2022-10-26 川崎重工業株式会社 ロボットシステム及びロボットシステムの制御方法
WO2020130091A1 (ja) * 2018-12-21 2020-06-25 川崎重工業株式会社 ロボットシステム及びロボットシステムの制御方法
JP2020099968A (ja) * 2018-12-21 2020-07-02 川崎重工業株式会社 ロボットシステム及びロボットシステムの制御方法
EP4048486A1 (de) * 2019-10-22 2022-08-31 Universal Robots A/S Sichere aktivierung des freilaufmodus eines roboterarms
JP2021091060A (ja) * 2019-12-12 2021-06-17 セイコーエプソン株式会社 制御方法およびロボットシステム
CN111098309A (zh) * 2020-01-06 2020-05-05 江南大学 一种机械臂混杂控制方法、装置及***
JP7459530B2 (ja) * 2020-01-31 2024-04-02 セイコーエプソン株式会社 教示方法およびロボットシステム
JPWO2021261426A1 (de) * 2020-06-25 2021-12-30
CN112130529A (zh) * 2020-08-31 2020-12-25 中国科学院沈阳自动化研究所 基于力感知的多装配工位运行安全***及其实现方法
US20230418258A1 (en) * 2020-10-09 2023-12-28 Universal Robots A/S Multifunctional input device for a robot arm

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US4068156A (en) * 1977-03-01 1978-01-10 Martin Marietta Corporation Rate control system for manipulator arms
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US4298308A (en) * 1979-09-24 1981-11-03 Hans Richter Apparatus for detecting forces directing the movement of a manipulating instrument
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
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DE3043827A1 (de) * 1980-11-20 1982-06-03 Gildemeister Ag, 4800 Bielefeld Verfahren und vorrichtung zum ueberwachen der bearbeitungsbedinungen an einer werkzeugmaschine
JPS57113118A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS6029292A (ja) * 1983-07-29 1985-02-14 株式会社日立製作所 ロボツトの腕制御方式
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US4715773A (en) * 1985-06-04 1987-12-29 Clemson University Method and apparatus for repositioning a mislocated object with a robot hand
JPS62114891A (ja) * 1985-11-13 1987-05-26 松下電器産業株式会社 ロボツトの力センサドリフト補償方法
JPS6341911A (ja) * 1986-08-07 1988-02-23 Matsushita Electric Ind Co Ltd ダイレクトテイ−チング装置
US4807153A (en) * 1986-11-20 1989-02-21 Unimation Inc. Multiaxis digital robot control having a backup velocity monitor and protection system
JPS63204302A (ja) * 1987-02-19 1988-08-24 Fuji Electric Co Ltd ロボツト駆動用電動機の過速度保護回路
JPS63245389A (ja) * 1987-03-31 1988-10-12 株式会社東芝 ロボツトの制御方法
JPS63278778A (ja) * 1987-05-06 1988-11-16 富士通株式会社 直接教示装置
EP0331265B1 (de) * 1988-03-01 1995-08-23 Hitachi Construction Machinery Co., Ltd. Positions-/Kraft-Steuerungsgerät für Werkzeugmaschinen mit mehreren Freiheitsgraden
JP2659121B2 (ja) * 1988-03-25 1997-09-30 豊田工機株式会社 産業用ロボットの自動教示装置
JPH0644623Y2 (ja) * 1988-04-27 1994-11-16 三菱重工業株式会社 産業用ロボットの安全装置
JP2509339B2 (ja) * 1989-07-20 1996-06-19 三菱電機株式会社 ロボットの制御装置
JPH03105404A (ja) * 1989-09-20 1991-05-02 Fujitsu Ltd ダイレクトティーチ方式
US5231693A (en) * 1991-05-09 1993-07-27 The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration Telerobot control system
JP3207231B2 (ja) * 1992-01-24 2001-09-10 松下電器産業株式会社 ロボットの直接教示方法

Also Published As

Publication number Publication date
EP0540753B1 (de) 1997-08-13
JP2812582B2 (ja) 1998-10-22
US5363474A (en) 1994-11-08
EP0540753A4 (en) 1994-08-24
JPH04344505A (ja) 1992-12-01
WO1992021076A1 (en) 1992-11-26
EP0540753A1 (de) 1993-05-12

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Legal Events

Date Code Title Description
8332 No legal effect for de