SE7603738L - Forfarande och anordning for generering av en komplexrorelse - Google Patents

Forfarande och anordning for generering av en komplexrorelse

Info

Publication number
SE7603738L
SE7603738L SE7603738A SE7603738A SE7603738L SE 7603738 L SE7603738 L SE 7603738L SE 7603738 A SE7603738 A SE 7603738A SE 7603738 A SE7603738 A SE 7603738A SE 7603738 L SE7603738 L SE 7603738L
Authority
SE
Sweden
Prior art keywords
principal
movements
movement
subordinate
incremental
Prior art date
Application number
SE7603738A
Other languages
English (en)
Other versions
SE401637B (sv
Inventor
L Dahlstrom
Original Assignee
Asea Ab
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 Asea Ab filed Critical Asea Ab
Priority to SE7603738A priority Critical patent/SE401637B/sv
Priority to DE2712169A priority patent/DE2712169C2/de
Priority to US05/780,726 priority patent/US4150329A/en
Publication of SE7603738L publication Critical patent/SE7603738L/sv
Publication of SE401637B publication Critical patent/SE401637B/sv

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
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • G05B19/21—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 incremental digital measuring device
    • G05B19/25—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 incremental digital measuring device for continuous-path control
    • G05B19/251—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 incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/253—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 incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
    • 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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34034—Multiplier, prm, brm
    • 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
    • G05B2219/36497—Select program, main and secondary program

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
SE7603738A 1976-03-29 1976-03-29 Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse SE401637B (sv)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE7603738A SE401637B (sv) 1976-03-29 1976-03-29 Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse
DE2712169A DE2712169C2 (de) 1976-03-29 1977-03-19 Verfahren zur Ausführung einer komplexen Bewegung durch einen Industrieroboter
US05/780,726 US4150329A (en) 1976-03-29 1977-03-24 Method and means in an industrial robot for the generation of a complex movement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE7603738A SE401637B (sv) 1976-03-29 1976-03-29 Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse

Publications (2)

Publication Number Publication Date
SE7603738L true SE7603738L (sv) 1977-09-30
SE401637B SE401637B (sv) 1978-05-22

Family

ID=20327420

Family Applications (1)

Application Number Title Priority Date Filing Date
SE7603738A SE401637B (sv) 1976-03-29 1976-03-29 Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse

Country Status (3)

Country Link
US (1) US4150329A (sv)
DE (1) DE2712169C2 (sv)
SE (1) SE401637B (sv)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE402540B (sv) 1976-08-13 1978-07-10 Asea Ab Forfarande och anordning for att vid en givarstyrd industrirobot astadkomma en approximativ transformation mellan givarens och robotarmens olika koordinatsystem for styrning av roboten inom ett forutbestemt ...
US4224501A (en) * 1978-02-27 1980-09-23 Unimation, Inc. Teaching arrangement for programmable manipulator
US4221997A (en) * 1978-12-18 1980-09-09 Western Electric Company, Incorporated Articulated robot arm and method of moving same
US4538233A (en) * 1982-10-19 1985-08-27 Cincinnati Milacron Inc. Apparatus and method for oscillatory motion control
US4677276A (en) * 1982-11-23 1987-06-30 Yaskawa Electric Mfg. Co., Ltd. Method of welding robot control which controls the three basic axes of a robot to provide a repetition of a weaving pattern along a robot locus
JPH0664486B2 (ja) * 1983-07-07 1994-08-22 ファナック株式会社 ３次元曲線作成方法
JPS6015711A (ja) * 1983-07-07 1985-01-26 Fanuc Ltd 曲面生成方法
US4621333A (en) * 1983-08-31 1986-11-04 Mitsubishi Denki Kabushiki Kaisha Method and apparatus for controlling a robot to perform weaving-like motion
FR2564359B1 (fr) * 1984-05-15 1988-06-10 Commissariat Energie Atomique Dispositif de balayage d'un organe dans un plan perpendiculaire a sa direction d'avance
JPS6178564A (ja) * 1984-09-27 1986-04-22 Fanuc Ltd 自動溶接機における溶接制御方式
JPH0692029B2 (ja) * 1987-03-20 1994-11-16 ファナック株式会社 ア−ク溶接ロボットの制御方法
JP2786225B2 (ja) * 1989-02-01 1998-08-13 株式会社日立製作所 工業用ロボットの制御方法及び装置
US5600759A (en) * 1989-03-20 1997-02-04 Fanuc Ltd. Robot capable of generating patterns of movement path
DE8903454U1 (de) * 1989-03-20 1990-07-26 Hermann Wangner Gmbh & Co Kg, 7410 Reutlingen Separator für Nahtmaschinen
FR2682905B1 (fr) * 1991-10-28 1995-12-01 Commissariat Energie Atomique Procede de generation de trajectoire pour un systeme robotise.
JPH06320462A (ja) * 1993-05-10 1994-11-22 Fanuc Ltd センサ付きロボットの制御方法
JPH11282517A (ja) * 1998-03-12 1999-10-15 Internatl Business Mach Corp <Ibm> マルチプライアを利用したパルス制御の方法およびシステム
US6064168A (en) * 1998-03-13 2000-05-16 Fanuc Robotics North America, Inc. Method of controlling robot movement
JP2006515233A (ja) * 2003-01-31 2006-05-25 サーモ シーアールエス リミテッド ロボットシステムのための構文推論式の運動計画方法
US20060269652A1 (en) * 2005-05-24 2006-11-30 Husky Injection Molding Systems Ltd. Article moving apparatus configured for molding machine
JP5163092B2 (ja) * 2007-02-14 2013-03-13 セイコーエプソン株式会社 インクジェットプリンタのリニアエンコーダ記録方法
KR101833743B1 (ko) 2010-07-28 2018-03-02 메드로보틱스 코포레이션 서지컬 포지셔닝과 서포트 시스템
US8992421B2 (en) 2010-10-22 2015-03-31 Medrobotics Corporation Highly articulated robotic probes and methods of production and use of such probes
AU2011338931B2 (en) 2010-11-11 2017-02-09 Medrobotics Corporation Introduction devices for highly articulated robotic probes and methods of production and use of such probes
CN104010773B (zh) 2011-09-13 2017-01-18 美的洛博迪克斯公司 具有抗扭曲链节配置的高度铰接的探针，形成该探针的方法和进行执行医学手术的方法
US20130119032A1 (en) * 2011-11-11 2013-05-16 Lincoln Global, Inc. System and method for welding materials of different conductivity
EP2793729B1 (en) 2011-12-21 2019-04-17 Medrobotics Corporation Stabilizing apparatus for highly articulated probes with link arrangement
CA2880621A1 (en) 2012-08-09 2014-02-13 Medrobotics Corporation Surgical tool positioning systems
US9913695B2 (en) 2013-05-02 2018-03-13 Medrobotics Corporation Robotic system including a cable interface assembly
EP3089696A4 (en) 2013-12-30 2017-08-30 Medrobotics Corporation Articulated robotic probes
DE102017211982B4 (de) * 2017-07-13 2019-04-18 Trumpf Laser- Und Systemtechnik Gmbh Verfahren und Vorrichtung zum Fügen von mindestens zwei Werkstücken
USD874655S1 (en) 2018-01-05 2020-02-04 Medrobotics Corporation Positioning arm for articulating robotic surgical system

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3026040A (en) * 1955-10-25 1962-03-20 Emi Ltd Automatic machine tools
US3497780A (en) * 1967-06-01 1970-02-24 Superior Electric Co Numerical control system with plural axes
US3701888A (en) * 1970-08-05 1972-10-31 Bendix Corp Time shared position feedback system for numerical control
JPS5424156B1 (sv) * 1971-02-03 1979-08-18
US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
US3864613A (en) * 1972-12-29 1975-02-04 Hymie Cutler Path generating system for numerical control apparatus
US3890552A (en) * 1972-12-29 1975-06-17 George C Devol Dual-armed multi-axes program controlled manipulators

Also Published As

Publication number Publication date
SE401637B (sv) 1978-05-22
DE2712169A1 (de) 1977-10-13
DE2712169C2 (de) 1981-10-15
US4150329A (en) 1979-04-17

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