JPS5349763A - Programable manipulator - Google Patents
Programable manipulatorInfo
- Publication number
- JPS5349763A JPS5349763A JP12047777A JP12047777A JPS5349763A JP S5349763 A JPS5349763 A JP S5349763A JP 12047777 A JP12047777 A JP 12047777A JP 12047777 A JP12047777 A JP 12047777A JP S5349763 A JPS5349763 A JP S5349763A
- Authority
- JP
- Japan
- Prior art keywords
- manipulator
- programable
- arm
- sensing
- movement
- 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.)
- Pending
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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/27—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device
- G05B19/31—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for continuous-path control
- G05B19/311—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/318—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/313 - G05B19/316
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
-
- 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
- G05B2219/37388—Acceleration or deceleration, inertial measurement
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Artificial Intelligence (AREA)
- Control Of Position Or Direction (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US05/732,977 US4132937A (en) | 1976-10-18 | 1976-10-18 | Programmable manipulator with dynamic feedback apparatus for stabilization |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59206064A Division JPS60126717A (ja) | 1976-10-18 | 1984-10-01 | プログラム可能なマニピユレ−タ |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS5349763A true JPS5349763A (en) | 1978-05-06 |
Family
ID=24945694
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP12047777A Pending JPS5349763A (en) | 1976-10-18 | 1977-10-06 | Programable manipulator |
JP59206064A Pending JPS60126717A (ja) | 1976-10-18 | 1984-10-01 | プログラム可能なマニピユレ−タ |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59206064A Pending JPS60126717A (ja) | 1976-10-18 | 1984-10-01 | プログラム可能なマニピユレ−タ |
Country Status (2)
Country | Link |
---|---|
US (1) | US4132937A (ja) |
JP (2) | JPS5349763A (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60213491A (ja) * | 1984-04-05 | 1985-10-25 | オムロン株式会社 | 人工腕制御装置 |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3039400C2 (de) * | 1980-10-18 | 1984-10-04 | Ludwig Dr.-Ing. 7500 Karlsruhe Pietzsch | Verfahren zum Steuern von Handhabungssystemen und Handhabungssystem zur Durchführung dieses Verfahrens |
US4362978A (en) * | 1980-10-27 | 1982-12-07 | Unimation, Inc. | Control system for manipulator apparatus |
JPS57173486A (en) * | 1981-04-15 | 1982-10-25 | Fujitsu Fanuc Ltd | Controlling system for robot |
US5610810A (en) * | 1981-09-06 | 1997-03-11 | Canon Kabushiki Kaisha | Apparatus for correcting errors in a digital-to-analog converter |
US4581893A (en) * | 1982-04-19 | 1986-04-15 | Unimation, Inc. | Manipulator apparatus with energy efficient control |
US4510428A (en) * | 1983-03-25 | 1985-04-09 | Unimation, Inc. | Control system for manipulator apparatus with initializing stabilization and inertia scaling |
JPH0619657B2 (ja) * | 1983-12-09 | 1994-03-16 | 株式会社日立製作所 | ロボツトの制御方法および装置 |
DE3417868C2 (de) * | 1984-05-14 | 1986-08-07 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | Verfahren zum Steuern von Roboterbewegungen |
US4603284A (en) * | 1984-06-05 | 1986-07-29 | Unimation, Inc. | Control system for manipulator apparatus with resolved compliant motion control |
US4598380A (en) * | 1984-08-13 | 1986-07-01 | Cincinnati Milacron Inc. | Method and apparatus for controlling manipulator and workpiece positioner |
US4973215A (en) * | 1986-02-18 | 1990-11-27 | Robotics Research Corporation | Industrial robot with servo |
JPS6327904A (ja) * | 1986-07-22 | 1988-02-05 | Hitachi Ltd | サ−ボ機構装置の位置修正制御方式 |
US4804896A (en) * | 1987-09-30 | 1989-02-14 | University Of Lowell | Vibratory interference sensor |
JP2719345B2 (ja) * | 1988-03-30 | 1998-02-25 | 豊田工機株式会社 | 力センサを用いた加工制御装置 |
DE69029566T2 (de) * | 1989-11-30 | 1997-04-24 | Hewlett Packard Co | Fehlerkorrektur in einem Kassettenbehandlungssystem |
JP2568455B2 (ja) * | 1990-08-16 | 1997-01-08 | 三菱電機株式会社 | 半導体記憶装置 |
JPH07261821A (ja) * | 1994-03-16 | 1995-10-13 | Fanuc Ltd | 負荷による撓みを考慮したロボット軌道計画方法 |
US5886494A (en) * | 1997-02-06 | 1999-03-23 | Camelot Systems, Inc. | Positioning system |
KR19990033511A (ko) * | 1997-10-24 | 1999-05-15 | 전주범 | 가상 현실 운동 재현기의 구동 제어 장치 |
US6604305B2 (en) * | 2001-09-28 | 2003-08-12 | Caterpillar Inc | Method and apparatus for controlling an extendable stick on a work machine |
CN102947213A (zh) * | 2010-04-13 | 2013-02-27 | 优罗佳玛股份公司 | 监控用于升降交通工具的设备的装置和方法 |
JP6690213B2 (ja) * | 2015-12-09 | 2020-04-28 | セイコーエプソン株式会社 | ロボット、制御装置およびロボットシステム |
CN109108969A (zh) * | 2018-08-21 | 2019-01-01 | 珠海格力智能装备有限公司 | 机器人零点的处理方法及装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3512060A (en) * | 1967-07-18 | 1970-05-12 | Ex Cell O Corp | Machine tool control system |
US3648143A (en) * | 1969-08-25 | 1972-03-07 | Harper Associates Inc | Automatic work-repeating mechanism |
US3906326A (en) * | 1970-06-03 | 1975-09-16 | Caelus Memories Inc | Fine and coarse track positioning system for a transducer in a magnetic recording system |
US3727119A (en) * | 1971-02-01 | 1973-04-10 | Information Dev Corp | Servo controlled automatic inspection apparatus |
US3777122A (en) * | 1971-07-30 | 1973-12-04 | Shell Oil Co | Process and apparatus for the automatic control of a variable |
US3934186A (en) * | 1972-03-07 | 1976-01-20 | Mitsubishi Jukogyo Kabushiki Kaisha | Program control system for robots for industrial use |
-
1976
- 1976-10-18 US US05/732,977 patent/US4132937A/en not_active Expired - Lifetime
-
1977
- 1977-10-06 JP JP12047777A patent/JPS5349763A/ja active Pending
-
1984
- 1984-10-01 JP JP59206064A patent/JPS60126717A/ja active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60213491A (ja) * | 1984-04-05 | 1985-10-25 | オムロン株式会社 | 人工腕制御装置 |
Also Published As
Publication number | Publication date |
---|---|
JPS60126717A (ja) | 1985-07-06 |
US4132937A (en) | 1979-01-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPS5349763A (en) | Programable manipulator | |
JPS52124585A (en) | Buffer | |
JPS52121262A (en) | Robot arm actuating system | |
JPS5354936A (en) | Programable logical array | |
JPS5230352A (en) | Micro program control method | |
JPS5332283A (en) | Sequence controller | |
JPS5311076A (en) | Vibration sensor | |
JPS52134933A (en) | Auto-choke type carbureter | |
JPS525074A (en) | Fixed size sensing system | |
JPS52151404A (en) | Turbine control system | |
JPS51137264A (en) | Articulation of an industrial robot | |
JPS5227158A (en) | Arm of industrial robbot | |
JPS5379336A (en) | Intelligent disc unit | |
JPS52106674A (en) | Semiconductor device | |
JPS5297094A (en) | Reciprocal truck controller | |
JPS52151484A (en) | Servo valve | |
JPS5338878A (en) | Sequence controller | |
JPS5328351A (en) | Program sequence control unit | |
JPS5235068A (en) | System for controlling vertical and horizontal motions of an articulat ed arm carried in industrial robots | |
JPS5357663A (en) | Arrangement for wrist of industrial robot | |
JPS5329481A (en) | Driving control circuit for reversible moving body | |
JPS5264206A (en) | Control unit | |
JPS5325787A (en) | Speed controller of actuator | |
JPS535385A (en) | Sequence controller | |
JPS52147383A (en) | Position detecting system |