FR2360117A1 - Procede et appareil de production d'un programme de commande pour organe a positionner - Google Patents
Procede et appareil de production d'un programme de commande pour organe a positionnerInfo
- Publication number
- FR2360117A1 FR2360117A1 FR7718948A FR7718948A FR2360117A1 FR 2360117 A1 FR2360117 A1 FR 2360117A1 FR 7718948 A FR7718948 A FR 7718948A FR 7718948 A FR7718948 A FR 7718948A FR 2360117 A1 FR2360117 A1 FR 2360117A1
- Authority
- FR
- France
- Prior art keywords
- producing
- control program
- output signals
- hand
- manually
- 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.)
- Granted
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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36429—Power assisted positioning
-
- 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
- G05B2219/37—Measurements
- G05B2219/37357—Force, pressure, weight or deflection
-
- 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
- G05B2219/42168—Measuring of needed force for servo
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Appareil de production d'un programme de commande pour une machine possédant un organe à positionner sous le contrôle du programme. Appareil dans lequel on impose manuellement des forces sur l'organe afin de le mettre en mouvement d'une manière désirée tandis que, d'une part, est engendré un signal de commande qui est fonction des signaux de sortie d'un capteur de force et d'un capteur de condition de position associés à l'organe et qui commande son déplacement de manière à diminuer les forces imposées manuellement et que, d'autre part, sont enregistrés les signaux de sortie du capteur de condition de position. Appareil applicable à un manipulateur pour machine-outil.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US70852176A | 1976-07-26 | 1976-07-26 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2360117A1 true FR2360117A1 (fr) | 1978-02-24 |
FR2360117B1 FR2360117B1 (fr) | 1980-12-19 |
Family
ID=24846113
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7718948A Granted FR2360117A1 (fr) | 1976-07-26 | 1977-06-21 | Procede et appareil de production d'un programme de commande pour organe a positionner |
Country Status (6)
Country | Link |
---|---|
JP (1) | JPS5314281A (fr) |
CA (1) | CA1080828A (fr) |
DE (1) | DE2728395A1 (fr) |
FR (1) | FR2360117A1 (fr) |
GB (1) | GB1532927A (fr) |
IT (1) | IT1081643B (fr) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2467061A1 (fr) * | 1979-10-12 | 1981-04-17 | Nordson Corp | Robot programmable a la main et executant des deplacements assistes pendant la programmation |
EP0076331A1 (fr) * | 1981-04-15 | 1983-04-13 | Fanuc Ltd. | Dispositif de commande de robot |
EP0145007A2 (fr) * | 1983-12-10 | 1985-06-19 | Aida Engineering Ltd. | Robot de meulage avec dispositif répétiteur |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS54106776A (en) * | 1978-02-10 | 1979-08-22 | Fanuc Ltd | Positioning device |
DE2841284C2 (de) * | 1978-09-22 | 1982-04-15 | H.A. Schlatter AG, Schlieren, Zürich | Vorrichtung zum Programmieren eines Handhabungsgeräts |
JPS57199484A (en) * | 1981-06-01 | 1982-12-07 | Okuma Mach Works Ltd | Controller for synchronous motor |
DE3240251A1 (de) * | 1982-10-30 | 1984-05-03 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung |
EP0108511A3 (fr) * | 1982-11-04 | 1985-12-18 | EMI Limited | Systèmes de commande de robot |
US4621332A (en) * | 1983-06-20 | 1986-11-04 | Hitachi, Ltd. | Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient |
JPH0748162B2 (ja) * | 1984-03-09 | 1995-05-24 | 富士通株式会社 | 物品処理装置の教示方法 |
JPH0612490B2 (ja) * | 1985-04-22 | 1994-02-16 | 日産自動車株式会社 | ロボツトの制御装置 |
JPS61264408A (ja) * | 1985-05-20 | 1986-11-22 | Fujitsu Ltd | 物体移動装置の教示制御方式 |
JPS61269712A (ja) * | 1985-05-24 | 1986-11-29 | Fujitsu Ltd | 自動作業装置の教示制御方法 |
DE4129152A1 (de) * | 1991-09-02 | 1993-04-08 | Fraunhofer Ges Forschung | Positioniervorrichtung mit kraftsensor |
CN102848391A (zh) * | 2012-09-20 | 2013-01-02 | 北京邮电大学 | 基于真实力反馈的四通道双边遥操作控制*** |
-
1977
- 1977-04-27 CA CA277,127A patent/CA1080828A/fr not_active Expired
- 1977-06-09 GB GB2413177A patent/GB1532927A/en not_active Expired
- 1977-06-21 FR FR7718948A patent/FR2360117A1/fr active Granted
- 1977-06-24 DE DE19772728395 patent/DE2728395A1/de not_active Withdrawn
- 1977-07-20 JP JP8617577A patent/JPS5314281A/ja active Pending
- 1977-07-22 IT IT2602077A patent/IT1081643B/it active
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2467061A1 (fr) * | 1979-10-12 | 1981-04-17 | Nordson Corp | Robot programmable a la main et executant des deplacements assistes pendant la programmation |
EP0076331A1 (fr) * | 1981-04-15 | 1983-04-13 | Fanuc Ltd. | Dispositif de commande de robot |
EP0076331A4 (fr) * | 1981-04-15 | 1986-01-07 | Fanuc Ltd | Dispositif de commande de robot. |
EP0145007A2 (fr) * | 1983-12-10 | 1985-06-19 | Aida Engineering Ltd. | Robot de meulage avec dispositif répétiteur |
EP0145007A3 (fr) * | 1983-12-10 | 1987-09-02 | Aida Engineering Ltd. | Robot de meulage avec dispositif répétiteur |
Also Published As
Publication number | Publication date |
---|---|
IT1081643B (it) | 1985-05-21 |
FR2360117B1 (fr) | 1980-12-19 |
GB1532927A (en) | 1978-11-22 |
JPS5314281A (en) | 1978-02-08 |
CA1080828A (fr) | 1980-07-01 |
DE2728395A1 (de) | 1978-02-02 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
ST | Notification of lapse |