JP2925072B2 - ロボットの位置教示のための移動制御方式 - Google Patents
ロボットの位置教示のための移動制御方式Info
- Publication number
- JP2925072B2 JP2925072B2 JP8223250A JP22325096A JP2925072B2 JP 2925072 B2 JP2925072 B2 JP 2925072B2 JP 8223250 A JP8223250 A JP 8223250A JP 22325096 A JP22325096 A JP 22325096A JP 2925072 B2 JP2925072 B2 JP 2925072B2
- Authority
- JP
- Japan
- Prior art keywords
- teaching
- robot
- mark
- state
- visual
- 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
- G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
-
- 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
- G05B2219/36404—Adapt teached position as function of deviation 3-D, 2-D position workpiece
-
- 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
- G05B2219/36412—Fine, autonomous movement of end effector by using camera
-
- 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
- G05B2219/36414—Compare image detected path with stored reference, difference corrects position
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50138—During setup display is red, after setup display is green colour
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8223250A JP2925072B2 (ja) | 1996-08-07 | 1996-08-07 | ロボットの位置教示のための移動制御方式 |
PCT/JP1997/002766 WO1998006015A1 (fr) | 1996-08-07 | 1997-08-07 | Technique de commande du mouvement pour position d'apprentissage de robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8223250A JP2925072B2 (ja) | 1996-08-07 | 1996-08-07 | ロボットの位置教示のための移動制御方式 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH1049218A JPH1049218A (ja) | 1998-02-20 |
JP2925072B2 true JP2925072B2 (ja) | 1999-07-26 |
Family
ID=16795159
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP8223250A Expired - Fee Related JP2925072B2 (ja) | 1996-08-07 | 1996-08-07 | ロボットの位置教示のための移動制御方式 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP2925072B2 (fr) |
WO (1) | WO1998006015A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009279677A (ja) * | 2008-05-20 | 2009-12-03 | Fanuc Ltd | 計測装置を用いてロボットの位置教示を行うロボット制御装置 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3805317B2 (ja) * | 2003-03-17 | 2006-08-02 | ファナック株式会社 | 教示位置修正方法及び教示位置修正装置 |
JP4167940B2 (ja) * | 2003-05-29 | 2008-10-22 | ファナック株式会社 | ロボットシステム |
JP4021413B2 (ja) * | 2004-01-16 | 2007-12-12 | ファナック株式会社 | 計測装置 |
JP2006346790A (ja) * | 2005-06-15 | 2006-12-28 | Toyota Motor Corp | ロボットと干渉判別方法と干渉判別装置 |
JP4982903B2 (ja) * | 2008-09-11 | 2012-07-25 | コグネックス・コーポレイション | 制御システム、制御方法およびプログラム |
US8559699B2 (en) | 2008-10-10 | 2013-10-15 | Roboticvisiontech Llc | Methods and apparatus to facilitate operations in image based systems |
US10286222B2 (en) | 2009-06-15 | 2019-05-14 | Osaka University | Magnetic stimulator |
DE102011005513A1 (de) * | 2011-03-14 | 2012-09-20 | Kuka Laboratories Gmbh | Roboter und Verfahren zum Betreiben eines Roboters |
JP5937098B2 (ja) * | 2011-10-24 | 2016-06-22 | 帝人ファーマ株式会社 | 経頭蓋磁気刺激システム |
JP5850962B2 (ja) | 2014-02-13 | 2016-02-03 | ファナック株式会社 | ビジュアルフィードバックを利用したロボットシステム |
JP2017077609A (ja) | 2015-10-21 | 2017-04-27 | ファナック株式会社 | ロボットの手首部の機構パラメータを校正する校正装置および校正方法 |
CN106736816A (zh) * | 2016-11-28 | 2017-05-31 | 山东汇川汽车部件有限公司 | 双卡爪桁架机械手上料控制方法 |
JP6572262B2 (ja) | 2017-06-06 | 2019-09-04 | ファナック株式会社 | 教示位置修正装置および教示位置修正方法 |
TWI700166B (zh) * | 2017-09-20 | 2020-08-01 | 達明機器人股份有限公司 | 機器手臂的教導系統及方法 |
CN110170995B (zh) * | 2019-05-09 | 2022-09-23 | 广西安博特智能科技有限公司 | 一种基于立体视觉的机器人快速示教方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6295606A (ja) * | 1985-10-22 | 1987-05-02 | Toshiba Corp | 三次元位置設定装置 |
JPH0716900B2 (ja) * | 1986-10-23 | 1995-03-01 | 株式会社日立製作所 | ロボットへの動作自動教示方法 |
JPS6446804A (en) * | 1987-08-18 | 1989-02-21 | Shin Meiwa Ind Co Ltd | Teaching method for automatic machine tool |
JPH0588741A (ja) * | 1991-09-26 | 1993-04-09 | Shin Meiwa Ind Co Ltd | 産業ロボツト用テイーチング装置及びその位置調整方法 |
-
1996
- 1996-08-07 JP JP8223250A patent/JP2925072B2/ja not_active Expired - Fee Related
-
1997
- 1997-08-07 WO PCT/JP1997/002766 patent/WO1998006015A1/fr active Application Filing
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009279677A (ja) * | 2008-05-20 | 2009-12-03 | Fanuc Ltd | 計測装置を用いてロボットの位置教示を行うロボット制御装置 |
Also Published As
Publication number | Publication date |
---|---|
WO1998006015A1 (fr) | 1998-02-12 |
JPH1049218A (ja) | 1998-02-20 |
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