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DE69636230D1 - Robotersteuerung - Google Patents

Robotersteuerung

Info

Publication number
DE69636230D1
DE69636230D1 DE69636230T DE69636230T DE69636230D1 DE 69636230 D1 DE69636230 D1 DE 69636230D1 DE 69636230 T DE69636230 T DE 69636230T DE 69636230 T DE69636230 T DE 69636230T DE 69636230 D1 DE69636230 D1 DE 69636230D1
Authority
DE
Germany
Prior art keywords
robot controller
robot
controller
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 - Lifetime
Application number
DE69636230T
Other languages
English (en)
Other versions
DE69636230T2 (de
Inventor
Yasuyuki Inoue
Hideo Nagata
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
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
Priority claimed from JP25923195A external-priority patent/JP3460761B2/ja
Priority claimed from JP35057095A external-priority patent/JP3286842B2/ja
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Application granted granted Critical
Publication of DE69636230D1 publication Critical patent/DE69636230D1/de
Publication of DE69636230T2 publication Critical patent/DE69636230T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • G05B2219/42123—Position loop then force, current loop

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Feedback Control In General (AREA)
DE69636230T 1995-09-11 1996-09-10 Robotersteuerung Expired - Lifetime DE69636230T2 (de)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP25923195A JP3460761B2 (ja) 1995-09-11 1995-09-11 ロボットの制御装置
JP25923195 1995-09-11
JP35057095 1995-12-23
JP35057095A JP3286842B2 (ja) 1995-12-23 1995-12-23 ロボットの柔軟制御装置
PCT/JP1996/002574 WO1997010081A1 (fr) 1995-09-11 1996-09-10 Circuit de commande de robots

Publications (2)

Publication Number Publication Date
DE69636230D1 true DE69636230D1 (de) 2006-07-20
DE69636230T2 DE69636230T2 (de) 2007-04-12

Family

ID=26544033

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69636230T Expired - Lifetime DE69636230T2 (de) 1995-09-11 1996-09-10 Robotersteuerung

Country Status (6)

Country Link
US (1) US5994864A (de)
EP (2) EP0881044B1 (de)
KR (1) KR100439466B1 (de)
CN (2) CN1067001C (de)
DE (1) DE69636230T2 (de)
WO (1) WO1997010081A1 (de)

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* Cited by examiner, † Cited by third party
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KR19990044574A (ko) 1999-06-25
KR100439466B1 (ko) 2004-09-18
EP1418026A1 (de) 2004-05-12
EP0881044A1 (de) 1998-12-02
CN1131766C (zh) 2003-12-24
WO1997010081A1 (fr) 1997-03-20
EP0881044A4 (de) 2002-05-02
US5994864A (en) 1999-11-30
DE69636230T2 (de) 2007-04-12
CN1275470A (zh) 2000-12-06
EP0881044B1 (de) 2006-06-07
CN1067001C (zh) 2001-06-13

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