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KR840006459A - 로보트의 동작 제어장치 - Google Patents

로보트의 동작 제어장치 Download PDF

Info

Publication number
KR840006459A
KR840006459A KR1019830005551A KR830005551A KR840006459A KR 840006459 A KR840006459 A KR 840006459A KR 1019830005551 A KR1019830005551 A KR 1019830005551A KR 830005551 A KR830005551 A KR 830005551A KR 840006459 A KR840006459 A KR 840006459A
Authority
KR
South Korea
Prior art keywords
control
unit
arm
point
control unit
Prior art date
Application number
KR1019830005551A
Other languages
English (en)
Other versions
KR900003637B1 (ko
Inventor
2) 야베유우히꼬(외
Original Assignee
미다 가쓰시게
가부시기가이샤 히다찌세이사꾸쇼
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 JP57206186A external-priority patent/JPS5998206A/ja
Priority claimed from JP4068883A external-priority patent/JPS59169778A/ja
Application filed by 미다 가쓰시게, 가부시기가이샤 히다찌세이사꾸쇼 filed Critical 미다 가쓰시게
Publication of KR840006459A publication Critical patent/KR840006459A/ko
Application granted granted Critical
Publication of KR900003637B1 publication Critical patent/KR900003637B1/ko

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
    • 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
    • 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
    • G05B2219/33—Director till display
    • G05B2219/33074—Calculation loop, first one slow changing value, then several quick varying values
    • 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
    • G05B2219/33—Director till display
    • G05B2219/33337—For each axis a processor, microprocessor
    • 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
    • G05B2219/42122—First open loop, then closed loop
    • 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
    • G05B2219/42268—Safety, excess in error

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

내용 없음

Description

로봇의 동작 제어장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본원 발명에 의한 제어장치를 사용하는 스카라(SCARA) : Selective Complinance Assembly Robot Arm)형 로봇의 외관도.
제3도는 본원 발명에 의한 로봇의 동작제어장치의 개략구성도.
제4도는 스카라형 로봇의 1,2축에 의한 본원 발명에 의한 로봇의 동작제어장치의 동작설명도.

Claims (2)

  1. 복수개의 제어부(51,52,53)와 상기 제어부로부터의 출력에 의하여 구동되는 복수개의 구동부(54,53)를 비치하며, 상기 구동부로부터의 출력에 의하여 아암을 점으로부터 점으로 이동 제어하는 로버트의 동작제어 장치에 있어서, 상기 아암의 개개의 축에 구동부가 설치되며, 개개의 상기 구동부에 제어부가 설치되고, 상기 아암은 상기개개의 제어부의 미리 소정의 가감속제어에 의하여 지시된 임의의 점을 임의의 순서로통과 가능하게 하는 것을 특징으로하는 로봇의 동작 제어장치.
  2. 개개의 제어부와 개개의 구동부 사이에 회전감시부를 설치하여, 상기 제어부와 구동부를 개우루프제어로하는 것을 특징으로 하는 특허청구의 범위 1기재의 로봇의 동작 제어장치.
    ※참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019830005551A 1982-11-26 1983-11-23 로보트의 동작제어장치 KR900003637B1 (ko)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP82-206186 1982-11-26
JP???82-206186 1982-11-26
JP57206186A JPS5998206A (ja) 1982-11-26 1982-11-26 ロボツトの動作制御装置
JP83-40688 1983-03-14
JP4068883A JPS59169778A (ja) 1983-03-14 1983-03-14 ロボツトの動作制御装置

Publications (2)

Publication Number Publication Date
KR840006459A true KR840006459A (ko) 1984-11-30
KR900003637B1 KR900003637B1 (ko) 1990-05-28

Family

ID=26380193

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019830005551A KR900003637B1 (ko) 1982-11-26 1983-11-23 로보트의 동작제어장치

Country Status (4)

Country Link
US (1) US4633414A (ko)
EP (1) EP0110347B1 (ko)
KR (1) KR900003637B1 (ko)
DE (1) DE3373177D1 (ko)

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AU595163B2 (en) * 1984-09-07 1990-03-29 Sony Corporation Industrial robot with servo system
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US4873476A (en) * 1986-03-14 1989-10-10 Fanuc Ltd. Robot control apparatus for controlling a manipulator through a robot arm having a plurality of axes
JPS62232006A (ja) * 1986-04-02 1987-10-12 Yokogawa Electric Corp ロボツト・システム
EP0269374A3 (en) * 1986-11-20 1988-08-24 Unimation Inc. Modular robot control system
EP0268491A3 (en) * 1986-11-20 1988-08-03 Unimation Inc. Multiaxis robot having improved motion control
EP0269373A3 (en) * 1986-11-20 1988-08-17 Unimation Inc. Multiaxis robot control having protection system with energy and backup velocity monitoring
US4786847A (en) * 1986-11-20 1988-11-22 Unimation Inc. Digital control for multiaxis robots
US4829219A (en) * 1986-11-20 1989-05-09 Unimation Inc. Multiaxis robot having improved motion control through variable acceleration/deceleration profiling
US4908556A (en) * 1986-11-20 1990-03-13 Unimation Inc. Modular robot control system
US4774445A (en) * 1986-11-20 1988-09-27 Unimation, Inc. Multiaxis robot control having capability for executing timed moves
EP0269372A3 (en) * 1986-11-20 1988-08-17 Unimation Inc. Robot with micro processor-based digital robot control
US4772831A (en) * 1986-11-20 1988-09-20 Unimation, Inc. Multiaxis robot control having improved continuous path operation
US4816730A (en) * 1986-12-22 1989-03-28 E. I. Du Pont De Nemours And Company Autosampler
US4884941A (en) * 1987-03-30 1989-12-05 Regents Of The University Of Minnesota Active compliant end-effector with force, angular position, and angular velocity sensing
JPS63316207A (ja) * 1987-06-19 1988-12-23 Fanuc Ltd 産業用ロボット制御装置
JPS6464791A (en) * 1987-09-01 1989-03-10 Mitsubishi Electric Corp Joint device for industrial robot
US4845627A (en) * 1987-10-01 1989-07-04 Eaton Corporation Remote programmable controller
EP0312119A3 (en) * 1987-10-16 1989-05-31 Nissan Motor Co., Ltd. Three-dimensional measuring robot
US5047700A (en) * 1988-03-23 1991-09-10 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Universal computer control system for motors
DE4000348A1 (de) * 1989-03-06 1990-09-13 Hewlett Packard Co Vorrichtung und verfahren zum ueberwachen der bewegungen eines vielgelenkigen roboters
GB2256290B (en) * 1991-05-27 1994-07-20 Honda Motor Co Ltd Servomotor control system for multi-axes
JPH08216082A (ja) * 1995-02-15 1996-08-27 Yaskawa Electric Corp ロボット装置
US6522096B1 (en) * 1997-05-28 2003-02-18 Kuka Roboter Gmbh Control circuit for a robot power supply
US6212968B1 (en) * 1998-07-29 2001-04-10 Janome Sewing Machine Co., Ltd, SCARA robot
JP2003117877A (ja) * 2001-10-17 2003-04-23 Japan Servo Co Ltd 多関節型の産業用ロボット
ITVI20020053A1 (it) * 2002-03-22 2003-09-22 Qem Srl Sistema integrato di controllo degli assi di macchinari industriali
WO2005053912A1 (en) * 2003-12-01 2005-06-16 Newsouth Innovations Pty Limited A method for controlling a system formed from interdependent units
US8000837B2 (en) 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
WO2010069377A1 (en) * 2008-12-18 2010-06-24 Abb Technology Ab A kit and a method
JP5792988B2 (ja) * 2011-04-25 2015-10-14 ヤマハ発動機株式会社 スカラ型ロボット
EP3359345A1 (en) * 2015-10-09 2018-08-15 Automata Technologies Limited Robot arm
JP6506324B2 (ja) 2017-02-16 2019-04-24 ファナック株式会社 水平多関節型ロボットとその設置反転方法
CN110065064A (zh) * 2018-01-24 2019-07-30 南京机器人研究院有限公司 一种机器人分拣控制方法

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US3689892A (en) * 1970-03-18 1972-09-05 Electroglas Inc Electronic control apparatus having learn and automatic operate modes
US3668498A (en) * 1971-04-20 1972-06-06 Atlas Automation Transfer apparatus with digital path control
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Also Published As

Publication number Publication date
DE3373177D1 (en) 1987-10-01
EP0110347A1 (en) 1984-06-13
EP0110347B1 (en) 1987-08-26
US4633414A (en) 1986-12-30
KR900003637B1 (ko) 1990-05-28

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A201 Request for examination
G160 Decision to publish patent application
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
LAPS Lapse due to unpaid annual fee