DE69610284D1 - Verfahren zur robotersteuerung - Google Patents

Verfahren zur robotersteuerung

Info

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
Application number
DE69610284T
Other languages
English (en)
Other versions
DE69610284T2 (de
Inventor
Atsushi Watanabe
Tomoyuki Terada
Shinsuke Sakamoto
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.)
Fanuc Corp
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Publication of DE69610284D1 publication Critical patent/DE69610284D1/de
Application granted granted Critical
Publication of DE69610284T2 publication Critical patent/DE69610284T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • G05B19/416—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)
DE69610284T 1995-07-28 1996-07-26 Verfahren zur robotersteuerung Expired - Fee Related DE69610284T2 (de)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

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