DE69610284D1 - Verfahren zur robotersteuerung - Google Patents
Verfahren zur robotersteuerungInfo
- Publication number
- DE69610284D1 DE69610284D1 DE69610284T DE69610284T DE69610284D1 DE 69610284 D1 DE69610284 D1 DE 69610284D1 DE 69610284 T DE69610284 T DE 69610284T DE 69610284 T DE69610284 T DE 69610284T DE 69610284 D1 DE69610284 D1 DE 69610284D1
- Authority
- DE
- Germany
- Prior art keywords
- 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 - 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
- G05B19/18—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
- G05B19/416—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 control of velocity, acceleration or deceleration
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34175—Overlap, between two blocks, continuous, smooth speed change, movement
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43129—Speed as function of curvature, in curves, corners smaller than in straight line
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45083—Manipulators, robot
-
- 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)
- Numerical Control (AREA)
- Manipulator (AREA)
- Programmable Controllers (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP21134695A JP3537229B2 (ja) | 1995-07-28 | 1995-07-28 | ロボットの制御方法 |
PCT/JP1996/002114 WO1997005533A1 (fr) | 1995-07-28 | 1996-07-26 | Procede de commande d'un robot |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69610284D1 true DE69610284D1 (de) | 2000-10-19 |
DE69610284T2 DE69610284T2 (de) | 2001-01-18 |
Family
ID=16604454
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69610284T Expired - Fee Related DE69610284T2 (de) | 1995-07-28 | 1996-07-26 | Verfahren zur robotersteuerung |
Country Status (5)
Country | Link |
---|---|
US (1) | US5872894A (de) |
EP (1) | EP0785490B1 (de) |
JP (1) | JP3537229B2 (de) |
DE (1) | DE69610284T2 (de) |
WO (1) | WO1997005533A1 (de) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1011124A (ja) * | 1996-06-20 | 1998-01-16 | Fanuc Ltd | ロボットの後退実行機能を備えたロボット制御装置 |
JP4091124B2 (ja) * | 1996-11-26 | 2008-05-28 | ファナック株式会社 | 動作経路シミュレーション機能を有するロボット制御装置 |
JPH1124720A (ja) * | 1997-07-03 | 1999-01-29 | Fanuc Ltd | ロボットの教示プログラムの変換方法 |
JPH11156672A (ja) * | 1997-08-25 | 1999-06-15 | Yoshiaki Kakino | 数値制御装置及びこれを備えた工作機械 |
JP3666341B2 (ja) * | 2000-02-04 | 2005-06-29 | 三菱電機株式会社 | ロボット制御方法 |
US20020169586A1 (en) * | 2001-03-20 | 2002-11-14 | Rankin James Stewart | Automated CAD guided sensor planning process |
KR100420263B1 (ko) * | 2001-04-16 | 2004-03-02 | 한솔케미언스 주식회사 | 아지리딘-2-카르복시산 에스테르로부터 이소세린 및 그유도체들을 제조하는 방법 |
DE10245188B3 (de) * | 2002-09-26 | 2004-09-09 | Elan Schaltelemente Gmbh & Co. Kg | Verfahren zur Überwachung einer eine Energiequelle führenden Vorrichtung insbesondere eines Handhabungsgerätes |
JP2006099347A (ja) * | 2004-09-29 | 2006-04-13 | Fanuc Ltd | ロボット移動制御方法 |
JP5317532B2 (ja) * | 2008-05-23 | 2013-10-16 | 三菱電機株式会社 | 数値制御装置 |
US9221175B2 (en) * | 2013-03-28 | 2015-12-29 | Denso Wave Incorporated | Method of generating path of multiaxial robot and control apparatus for the multiaxial robot |
JP6474955B2 (ja) * | 2013-11-29 | 2019-02-27 | 株式会社ダイヘン | マニピュレータの移動制御装置及び移動制御方法 |
JP6396273B2 (ja) | 2015-10-14 | 2018-09-26 | ファナック株式会社 | ワークとの干渉を避ける位置決めを行う数値制御装置 |
CN106125677B (zh) * | 2016-07-27 | 2018-08-21 | 邓耀华 | 一种柔性材料轨迹加工方法和装置 |
WO2019077668A1 (ja) * | 2017-10-17 | 2019-04-25 | 株式会社Fuji | 工作機械装置 |
US11154369B2 (en) | 2018-01-24 | 2021-10-26 | Think Surgical, Inc. | Environmental mapping for robotic assisted surgery |
CN112292236A (zh) * | 2018-07-04 | 2021-01-29 | Abb瑞士股份有限公司 | 用于控制工业执行器的方法和控制*** |
CN109108965B (zh) * | 2018-07-27 | 2021-07-23 | 武汉精锋微控科技有限公司 | 一种应用于机械手臂的笛卡尔空间运动预测方法 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58177289A (ja) * | 1982-04-12 | 1983-10-17 | 株式会社三協精機製作所 | 工業用ロボツトの動作制御装置 |
JPS61136105A (ja) * | 1984-12-07 | 1986-06-24 | Sony Corp | 産業用ロボツトの移動制御装置 |
US4675502A (en) * | 1985-12-23 | 1987-06-23 | General Electric Company | Real time tracking control for taught path robots |
US4685067A (en) * | 1986-02-20 | 1987-08-04 | Cincinnati Milacron Inc. | Control system for program controlled manipulator having multiple triggered functions between programmed points |
JPH07104706B2 (ja) * | 1987-10-21 | 1995-11-13 | 株式会社日立製作所 | ロボットの制御方法 |
US5144211A (en) * | 1989-01-31 | 1992-09-01 | Staubli International Ag | Multiaxis robot controller having workpoint torque control |
JPH06324733A (ja) * | 1993-05-12 | 1994-11-25 | Fanuc Ltd | センサ付きロボットの制御方法及び装置 |
US5434489A (en) * | 1993-07-30 | 1995-07-18 | Fanuc Robotics North America, Inc. | Method and system for path planning in cartesian space |
-
1995
- 1995-07-28 JP JP21134695A patent/JP3537229B2/ja not_active Expired - Fee Related
-
1996
- 1996-07-26 US US08/809,789 patent/US5872894A/en not_active Expired - Fee Related
- 1996-07-26 DE DE69610284T patent/DE69610284T2/de not_active Expired - Fee Related
- 1996-07-26 WO PCT/JP1996/002114 patent/WO1997005533A1/ja active IP Right Grant
- 1996-07-26 EP EP96925105A patent/EP0785490B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0785490A1 (de) | 1997-07-23 |
JP3537229B2 (ja) | 2004-06-14 |
EP0785490B1 (de) | 2000-09-13 |
DE69610284T2 (de) | 2001-01-18 |
EP0785490A4 (de) | 1997-10-15 |
JPH0944225A (ja) | 1997-02-14 |
US5872894A (en) | 1999-02-16 |
WO1997005533A1 (fr) | 1997-02-13 |
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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 |