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
Application number
JP8223250A
Other languages
English (en)
Japanese (ja)
Other versions
JPH1049218A (ja
Inventor
淳 渡辺
哲朗 加藤
敦朗 永山
英俊 組谷
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.)
FUANATSUKU KK
Original Assignee
FUANATSUKU KK
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 FUANATSUKU KK filed Critical FUANATSUKU KK
Priority to JP8223250A priority Critical patent/JP2925072B2/ja
Priority to PCT/JP1997/002766 priority patent/WO1998006015A1/fr
Publication of JPH1049218A publication Critical patent/JPH1049218A/ja
Application granted granted Critical
Publication of JP2925072B2 publication Critical patent/JP2925072B2/ja
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
    • G05B19/408—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)
JP8223250A 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 Expired - Fee Related JP2925072B2 (ja)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Cited By (1)

* Cited by examiner, † Cited by third party
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

Similar Documents

Publication Publication Date Title
JP2925072B2 (ja) ロボットの位置教示のための移動制御方式
TWI673148B (zh) 遠端操作機器人系統及其運轉方法
EP0549805B1 (fr) Procede d'etalonnage automatique
US11045954B2 (en) Robot system and method of controlling the same
US7376488B2 (en) Taught position modification device
EP1481772A2 (fr) Système robotique pour contrôler les mouvements d'un robot à l'aide d'un capteur optique
KR20180069031A (ko) 로봇의 다이렉트 교시방법
JP2000024968A (ja) ロボット制御装置
EP4005745A1 (fr) Système d'outillage robotisé autonome, système de commande, procédé de commande et support de stockage
JP3998741B2 (ja) ロボットの移動制御方法
JPH05261682A (ja) 産業用ロボットのキャリブレーション方式
US5600759A (en) Robot capable of generating patterns of movement path
US11878423B2 (en) Robot system
US10532460B2 (en) Robot teaching device that sets teaching point based on motion image of workpiece
US20210323151A1 (en) Robot system
JP3596581B2 (ja) オフラインティーチングにおけるツールの作業条件設定方法
CN113858206B (zh) 机器人作业控制方法、机器人和计算机可读存储介质
JPH11191005A (ja) ロボット制御装置
JPH1190868A (ja) ロボット制御装置
WO2014091897A1 (fr) Système de commande de robot
JPH07117403B2 (ja) ロボットの視覚座標校正方法およびシステム
JP2577003B2 (ja) ロボットの制御方法
EP0414919A1 (fr) Robot capable de former une configuration de trajectoire de travail
JPH09128024A (ja) 冗長軸を有するロボットの動作プログラムの最適化方法
JPH10264066A (ja) ロボットの制御装置

Legal Events

Date Code Title Description
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 19990323

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20080507

Year of fee payment: 9

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20090507

Year of fee payment: 10

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20100507

Year of fee payment: 11

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20110507

Year of fee payment: 12

LAPS Cancellation because of no payment of annual fees