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JPS57182205A - Controlling system of robot's locus - Google Patents

Controlling system of robot's locus

Info

Publication number
JPS57182205A
JPS57182205A JP56044275A JP4427581A JPS57182205A JP S57182205 A JPS57182205 A JP S57182205A JP 56044275 A JP56044275 A JP 56044275A JP 4427581 A JP4427581 A JP 4427581A JP S57182205 A JPS57182205 A JP S57182205A
Authority
JP
Japan
Prior art keywords
points
robot
representative
another
plane determined
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.)
Granted
Application number
JP56044275A
Other languages
English (en)
Other versions
JPH065486B2 (ja
Inventor
Osamu Nio
Shinobu Sato
Hajime Fujii
Toyoji Hamashima
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 Manufacturing Co Ltd
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=12686952&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=JPS57182205(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Manufacturing Co Ltd
Priority to JP56044275A priority Critical patent/JPH065486B2/ja
Priority to US06/359,548 priority patent/US4495588A/en
Priority to DE8282102483T priority patent/DE3279928D1/de
Priority to EP82102483A priority patent/EP0062244B1/en
Publication of JPS57182205A publication Critical patent/JPS57182205A/ja
Publication of JPH065486B2 publication Critical patent/JPH065486B2/ja
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
    • 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
    • G05B19/18—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
    • G05B19/4083—Adapting programme, configuration
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36503—Adapt program to real coordinates, software orientation
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45135—Welding

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
JP56044275A 1981-03-26 1981-03-26 ロボットの軌跡制御方法 Expired - Lifetime JPH065486B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP56044275A JPH065486B2 (ja) 1981-03-26 1981-03-26 ロボットの軌跡制御方法
US06/359,548 US4495588A (en) 1981-03-26 1982-03-18 Robot locus control system
DE8282102483T DE3279928D1 (en) 1981-03-26 1982-03-25 Robot locus control system
EP82102483A EP0062244B1 (en) 1981-03-26 1982-03-25 Robot locus control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP56044275A JPH065486B2 (ja) 1981-03-26 1981-03-26 ロボットの軌跡制御方法

Publications (2)

Publication Number Publication Date
JPS57182205A true JPS57182205A (en) 1982-11-10
JPH065486B2 JPH065486B2 (ja) 1994-01-19

Family

ID=12686952

Family Applications (1)

Application Number Title Priority Date Filing Date
JP56044275A Expired - Lifetime JPH065486B2 (ja) 1981-03-26 1981-03-26 ロボットの軌跡制御方法

Country Status (4)

Country Link
US (1) US4495588A (ja)
EP (1) EP0062244B1 (ja)
JP (1) JPH065486B2 (ja)
DE (1) DE3279928D1 (ja)

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59173805A (ja) * 1983-03-22 1984-10-02 Kawasaki Heavy Ind Ltd 教示デ−タ変換機能を有する産業用ロボツト
JPS59180605A (ja) * 1983-03-31 1984-10-13 Hitachi Ltd ロボツトの作業デ−タ変換装置
JPS59189415A (ja) * 1983-04-13 1984-10-27 Hitachi Ltd 工業用ロボツトの動作教示方法および装置
JPS6054011A (ja) * 1983-09-03 1985-03-28 Fanuc Ltd 工業用ロボツトの位置制御方法
JPS6065304A (ja) * 1983-09-20 1985-04-15 Toyota Motor Corp ロボツトの教示点補正方法
JPS6095605A (ja) * 1983-10-31 1985-05-29 Nissan Motor Co Ltd ロボツトのテイ−チデ−タ補正方法
JPS60107107A (ja) * 1983-11-16 1985-06-12 Nachi Fujikoshi Corp 産業用ロボツトのオフライン・テイ−チング方法
JPS60151712A (ja) * 1984-01-19 1985-08-09 Hitachi Ltd 固定３次元視覚併用ロボットハンドリング装置
JPS60175112A (ja) * 1984-02-20 1985-09-09 Dainichi Kiko Kk 産業用ロボツトによるコンベア上の作業方法
JPS617904A (ja) * 1984-06-22 1986-01-14 Seiko Instr & Electronics Ltd ロボツト制御方式
JPS6126111A (ja) * 1984-07-16 1986-02-05 Shin Meiwa Ind Co Ltd 産業用ロボツト
JPS6145303A (ja) * 1984-08-10 1986-03-05 Hitachi Ltd ロボットの幾何学的誤差の補正方法
JPS6174007A (ja) * 1984-09-19 1986-04-16 Kawasaki Heavy Ind Ltd 工業用ロボツトの教示方法
JPS61109109A (ja) * 1984-10-31 1986-05-27 Sankyo Seiki Mfg Co Ltd 平面多関節型ロボツトの位置決め方法
JPS61136106A (ja) * 1984-12-07 1986-06-24 Fanuc Ltd 立体円弧補間方法
JPS61145612A (ja) * 1984-12-18 1986-07-03 Toshiba Mach Co Ltd ロボツトの教示用座標系設定方法
JPS6258307A (ja) * 1985-09-09 1987-03-14 Aida Eng Ltd 複数台ロボツトの同期制御システム
US4690110A (en) * 1985-04-26 1987-09-01 Mazda Motor Corporation Variable valve mechanism for internal combustion engines
US4726332A (en) * 1985-04-26 1988-02-23 Mazda Motor Corporation Variable valve mechanism for internal combustion engines
JPH02271405A (ja) * 1989-04-12 1990-11-06 Yaskawa Electric Mfg Co Ltd ロボットの制御方法
WO1990015373A1 (en) * 1989-06-07 1990-12-13 Fanuc Ltd Nc data edition
CN110561421A (zh) * 2019-08-09 2019-12-13 哈尔滨工业大学（深圳） 机械臂间接拖动示教方法及装置

Families Citing this family (48)

* Cited by examiner, † Cited by third party
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US4577284A (en) * 1982-03-31 1986-03-18 International Business Machines Corporation Adaptive robot batch assembly system
CA1184273A (en) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Robot control apparatus
DE3246828C2 (de) * 1982-12-17 1987-04-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Mobile Transport- und Handhabungseinrichtung
JPS59114609A (ja) * 1982-12-22 1984-07-02 Hitachi Ltd ロボットの制御装置
US4670849A (en) * 1983-03-31 1987-06-02 Hitachi, Ltd. Position error correcting method and apparatus for industrial robot
SE8304101L (sv) * 1983-07-22 1985-01-23 Ibm Svenska Ab System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader
GB8319892D0 (en) * 1983-07-23 1983-08-24 Ae Plc Machine tool control
US4621333A (en) * 1983-08-31 1986-11-04 Mitsubishi Denki Kabushiki Kaisha Method and apparatus for controlling a robot to perform weaving-like motion
JPS60174274A (ja) * 1984-02-20 1985-09-07 Fanuc Ltd 三次元曲面におけるスケ−リング方法
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
JP2701022B2 (ja) * 1984-05-22 1998-01-21 ファナック 株式会社 プログラマブルミラーイメージ機能を有する数値制御装置
JPS6125207A (ja) * 1984-07-12 1986-02-04 Fanuc Ltd ツ−ル座標系の設定方式
JPS6132113A (ja) * 1984-07-23 1986-02-14 Seiko Instr & Electronics Ltd ロボツト制御方式
JPS6142004A (ja) * 1984-08-06 1986-02-28 Toyota Central Res & Dev Lab Inc 追従ロボツト装置
JP2684359B2 (ja) * 1985-02-22 1997-12-03 ファナック 株式会社 ロボットのワーク直交座標系設定装置
US4817017A (en) * 1985-04-08 1989-03-28 Mitsubishi Denki Kabushiki Kaisha Industrial robot
US4998206A (en) * 1988-07-29 1991-03-05 The Boeing Company Automated method and apparatus for fabricating sheet metal parts and the like using multiple manufacturing stations
US4700308A (en) * 1985-04-24 1987-10-13 The Boeing Company Method of fabricating sheet metal parts and the like
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
JPS61281305A (ja) * 1985-06-06 1986-12-11 Toyota Motor Corp 多関節ロボツト制御装置
JPH0789287B2 (ja) * 1985-11-07 1995-09-27 三菱電機株式会社 ロボットのプログラミング方法
US5117348A (en) * 1986-03-28 1992-05-26 The Ingersoll Milling Machine Company Method for alignment of a representative surface to an actual surface for a tape laying machine
SE464855B (sv) * 1986-09-29 1991-06-24 Asea Ab Foerfarande vid en industrirobot foer kalibrering av en sensor
US4835710A (en) * 1987-07-17 1989-05-30 Cincinnati Milacron Inc. Method of moving and orienting a tool along a curved path
JP2511072B2 (ja) * 1987-10-23 1996-06-26 三菱重工業株式会社 ロボットにおける教示デ―タの記録・再生方法
JP2759324B2 (ja) * 1988-04-23 1998-05-28 ファナック株式会社 ロボットのミラーイメージ方法
JPH079606B2 (ja) * 1988-09-19 1995-02-01 豊田工機株式会社 ロボット制御装置
US4945493A (en) * 1988-09-26 1990-07-31 Ford Motor Company Method and system for correcting a robot path
US5053976A (en) * 1989-05-22 1991-10-01 Honda Giken Kogyo Kabushiki Kaisha Method of teaching a robot
US6535794B1 (en) 1993-02-23 2003-03-18 Faro Technologoies Inc. Method of generating an error map for calibration of a robot or multi-axis machining center
AU7613394A (en) * 1993-08-13 1995-03-14 Fraunhofer-Gesellschaft Zur Forderung Der Angewandten Forschung E.V. Process for treating an object, in particular an aeroplane
EP0765271B1 (de) * 1993-08-13 1998-05-13 PUTZMEISTER Aktiengesellschaft Verfahren und anordnung zur oberflächenbearbeitung von grossobjekten
CN100507780C (zh) * 1994-03-23 2009-07-01 株式会社安川电机 机器控制器
US5495410A (en) * 1994-08-12 1996-02-27 Minnesota Mining And Manufacturing Company Lead-through robot programming system
US5761940A (en) * 1994-11-09 1998-06-09 Amada Company, Ltd. Methods and apparatuses for backgaging and sensor-based control of bending operations
US5835684A (en) 1994-11-09 1998-11-10 Amada Company, Ltd. Method for planning/controlling robot motion
DE69529603T2 (de) * 1994-11-09 2003-06-26 Amada Co., Ltd. Scherkraftmesssystem
EP0744046B1 (en) 1994-11-09 2003-02-12 Amada Company Limited Intelligent system for generating and executing a sheet metal bending plan
US5969973A (en) * 1994-11-09 1999-10-19 Amada Company, Ltd. Intelligent system for generating and executing a sheet metal bending plan
JP4053550B2 (ja) 2005-05-27 2008-02-27 ファナック株式会社 教示点を修正するための装置、プログラム、記録媒体及び方法
JP5495915B2 (ja) * 2010-04-19 2014-05-21 株式会社神戸製鋼所 作業マニピュレータのセンシング動作生成方法及びセンシング動作生成装置
JP6484213B2 (ja) * 2016-12-09 2019-03-13 ファナック株式会社 複数のロボットを含むロボットシステム、ロボット制御装置、及びロボット制御方法
US10661438B2 (en) * 2017-01-16 2020-05-26 Ants Technology (Hk) Limited Robot apparatus, methods and computer products
WO2018220813A1 (ja) * 2017-06-02 2018-12-06 富士通株式会社 判定装置、判定方法及び判定プログラム
MX2020011540A (es) 2018-04-30 2021-10-04 Path Robotics Inc Escaner láser que rechaza la reflexión.
US11292133B2 (en) * 2018-09-28 2022-04-05 Intel Corporation Methods and apparatus to train interdependent autonomous machines
WO2022016152A1 (en) 2020-07-17 2022-01-20 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
JP2024508563A (ja) 2021-02-24 2024-02-27 パス ロボティクス， インコーポレイテッド 自律型溶接ロボット

Citations (1)

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JPS5796791A (en) * 1980-11-27 1982-06-16 Shin Meiwa Ind Co Ltd Industrial robot working work having symmetrical shape

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Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
JPS5796791A (en) * 1980-11-27 1982-06-16 Shin Meiwa Ind Co Ltd Industrial robot working work having symmetrical shape

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59173805A (ja) * 1983-03-22 1984-10-02 Kawasaki Heavy Ind Ltd 教示デ−タ変換機能を有する産業用ロボツト
JPS59180605A (ja) * 1983-03-31 1984-10-13 Hitachi Ltd ロボツトの作業デ−タ変換装置
JPH0561648B2 (ja) * 1983-03-31 1993-09-06 Hitachi Ltd
JPS59189415A (ja) * 1983-04-13 1984-10-27 Hitachi Ltd 工業用ロボツトの動作教示方法および装置
JPS6054011A (ja) * 1983-09-03 1985-03-28 Fanuc Ltd 工業用ロボツトの位置制御方法
JPS6065304A (ja) * 1983-09-20 1985-04-15 Toyota Motor Corp ロボツトの教示点補正方法
JPS6095605A (ja) * 1983-10-31 1985-05-29 Nissan Motor Co Ltd ロボツトのテイ−チデ−タ補正方法
JPS60107107A (ja) * 1983-11-16 1985-06-12 Nachi Fujikoshi Corp 産業用ロボツトのオフライン・テイ−チング方法
JPS60151712A (ja) * 1984-01-19 1985-08-09 Hitachi Ltd 固定３次元視覚併用ロボットハンドリング装置
JPS60175112A (ja) * 1984-02-20 1985-09-09 Dainichi Kiko Kk 産業用ロボツトによるコンベア上の作業方法
JPS617904A (ja) * 1984-06-22 1986-01-14 Seiko Instr & Electronics Ltd ロボツト制御方式
JPS6126111A (ja) * 1984-07-16 1986-02-05 Shin Meiwa Ind Co Ltd 産業用ロボツト
JPH0525125B2 (ja) * 1984-07-16 1993-04-12 Shin Meiwa Ind Co Ltd
JPS6145303A (ja) * 1984-08-10 1986-03-05 Hitachi Ltd ロボットの幾何学的誤差の補正方法
JPS6174007A (ja) * 1984-09-19 1986-04-16 Kawasaki Heavy Ind Ltd 工業用ロボツトの教示方法
JPS61109109A (ja) * 1984-10-31 1986-05-27 Sankyo Seiki Mfg Co Ltd 平面多関節型ロボツトの位置決め方法
JPS61136106A (ja) * 1984-12-07 1986-06-24 Fanuc Ltd 立体円弧補間方法
JPS61145612A (ja) * 1984-12-18 1986-07-03 Toshiba Mach Co Ltd ロボツトの教示用座標系設定方法
US4690110A (en) * 1985-04-26 1987-09-01 Mazda Motor Corporation Variable valve mechanism for internal combustion engines
US4726332A (en) * 1985-04-26 1988-02-23 Mazda Motor Corporation Variable valve mechanism for internal combustion engines
JPS6258307A (ja) * 1985-09-09 1987-03-14 Aida Eng Ltd 複数台ロボツトの同期制御システム
JPH02271405A (ja) * 1989-04-12 1990-11-06 Yaskawa Electric Mfg Co Ltd ロボットの制御方法
WO1990015373A1 (en) * 1989-06-07 1990-12-13 Fanuc Ltd Nc data edition
CN110561421A (zh) * 2019-08-09 2019-12-13 哈尔滨工业大学（深圳） 机械臂间接拖动示教方法及装置

Also Published As

Publication number Publication date
EP0062244B1 (en) 1989-09-06
US4495588A (en) 1985-01-22
EP0062244A1 (en) 1982-10-13
DE3279928D1 (en) 1989-10-12
JPH065486B2 (ja) 1994-01-19

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