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KR900700247A - 서어보 모우터에 의해 구동되는 기계작동부의 충돌검출방법 - Google Patents

서어보 모우터에 의해 구동되는 기계작동부의 충돌검출방법

Info

Publication number
KR900700247A
KR900700247A KR1019890702041A KR890702041A KR900700247A KR 900700247 A KR900700247 A KR 900700247A KR 1019890702041 A KR1019890702041 A KR 1019890702041A KR 890702041 A KR890702041 A KR 890702041A KR 900700247 A KR900700247 A KR 900700247A
Authority
KR
South Korea
Prior art keywords
servo motor
detection method
operation part
collision detection
machine operation
Prior art date
Application number
KR1019890702041A
Other languages
English (en)
Other versions
KR960005985B1 (ko
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 filed Critical
Publication of KR900700247A publication Critical patent/KR900700247A/ko
Application granted granted Critical
Publication of KR960005985B1 publication Critical patent/KR960005985B1/ko

Links

Classifications

    • 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
    • B25J19/06—Safety devices
    • 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
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
KR1019890702041A 1988-03-10 1989-03-07 서어보 모우터에 의해 구동되는 기계 작동부의 충돌 검출 방법 KR960005985B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP54834/88 1988-03-10
JP63054834A JPH01230107A (ja) 1988-03-10 1988-03-10 サーボモータにより駆動される被駆動体の衝突検出方法
PCT/JP1989/000245 WO1989008538A1 (en) 1988-03-10 1989-03-07 Method of detecting collision of moving portions driven by servo motor

Publications (2)

Publication Number Publication Date
KR900700247A true KR900700247A (ko) 1990-08-11
KR960005985B1 KR960005985B1 (ko) 1996-05-06

Family

ID=12981666

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019890702041A KR960005985B1 (ko) 1988-03-10 1989-03-07 서어보 모우터에 의해 구동되는 기계 작동부의 충돌 검출 방법

Country Status (6)

Country Link
US (1) US5119006A (ko)
EP (1) EP0365681B1 (ko)
JP (1) JPH01230107A (ko)
KR (1) KR960005985B1 (ko)
DE (1) DE68919801T2 (ko)
WO (1) WO1989008538A1 (ko)

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JP3212571B2 (ja) * 1999-03-26 2001-09-25 ファナック株式会社 産業用ロボット
CN1268908C (zh) * 2000-11-21 2006-08-09 托比恩·B·伦奎斯特 轮胎压力监测装置及其方法和气门帽
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DE10226853B3 (de) 2002-06-15 2004-02-19 Kuka Roboter Gmbh Verfahren zum Begrenzen der Krafteinwirkung eines Roboterteils
US7173390B2 (en) 2002-08-06 2007-02-06 Assembléon N.V. Method of detecting a malfunction during a displacement of an element by means of a drive system, and device suitable for carrying out such a method
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DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
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DE102007007121B4 (de) 2007-02-13 2017-10-12 Siemens Healthcare Gmbh Diagnosegerät und Verfahren zum Verstellen einer Diagnosseeinheit eines Diagnosegeräts
US7424338B1 (en) 2007-04-02 2008-09-09 Honda Motor Co., Ltd. Broken tool detection system
JP5556558B2 (ja) * 2010-10-05 2014-07-23 トヨタ自動車株式会社 ロボットアームの制御装置、制御方法、及び制御用プログラム
FR3002048B1 (fr) * 2013-02-14 2016-07-01 Commissariat Energie Atomique Procede de detection amelioree de collision d'un robot avec son environnement, systeme et produit programme d'ordinateur mettant en œuvre le procede
CN103129975B (zh) * 2013-03-04 2015-12-23 广州达意隆包装机械股份有限公司 一种码垛机器人及其控制方法
EP2952300A1 (en) * 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
JP2017019057A (ja) * 2015-07-13 2017-01-26 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム
DE102015009892A1 (de) * 2015-07-30 2017-02-02 Kuka Roboter Gmbh Verfahren und System zum Steuern eines Roboters
US10730191B2 (en) * 2015-10-30 2020-08-04 Kawasaki Jukogyo Kabushiki Kaisha Monitoring device of robot system
DE102015224641A1 (de) * 2015-12-08 2017-06-08 Kuka Roboter Gmbh Verfahren zum Erkennen einer Kollision eines Roboterarms mit einem Objekt und Roboter mit einem Roboterarm
US10173323B2 (en) * 2017-06-09 2019-01-08 Precise Automation, Inc. Collaborative robot
US10252420B2 (en) 2017-06-09 2019-04-09 Precise Automation, Inc. Collaborative robot
CN109202907B (zh) * 2018-10-08 2024-02-27 广州数控设备有限公司 一种基于工业机器人的无传感弹性碰撞装置及方法
CN109079800A (zh) * 2018-10-29 2018-12-25 珠海格力智能装备有限公司 机器人碰撞检测方法、装置、存储介质、处理器及机器人
CN109262616A (zh) * 2018-11-09 2019-01-25 浙江国自机器人技术有限公司 机器人碰撞检测方法、系统、调度中心及可读存储介质
CN109732599B (zh) * 2018-12-29 2020-11-03 深圳市越疆科技有限公司 一种机器人碰撞检测方法、装置、存储介质及机器人
WO2020147078A1 (zh) * 2019-01-17 2020-07-23 西门子股份公司 机器人碰撞检测系统和方法及包括该系统的机器人
WO2021009903A1 (ja) * 2019-07-18 2021-01-21 株式会社安川電機 ロボットシステム、ロボットの制御方法、サーボシステム
DE102021000741A1 (de) 2020-03-03 2021-09-09 Sew-Eurodrive Gmbh & Co Kg Verfahren zum Betreiben einer Maschine und Anlage zur Durchführung des Verfahrens
CN113517839B (zh) * 2021-04-13 2024-01-05 高创传动科技开发（深圳）有限公司 电机伺服系统及其控制方法、装置、插件机、设备及介质
CN113517827B (zh) * 2021-04-13 2024-01-05 高创传动科技开发（深圳）有限公司 电机伺服系统及其控制方法、装置、编带机、设备及介质
CN113285653A (zh) * 2021-05-26 2021-08-20 三菱电机自动化(中国)有限公司 伺服控制装置碰撞防护系统、方法及计算机可读取介质

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Also Published As

Publication number Publication date
EP0365681A1 (en) 1990-05-02
DE68919801T2 (de) 1995-05-04
EP0365681A4 (en) 1990-12-19
DE68919801D1 (de) 1995-01-19
JPH01230107A (ja) 1989-09-13
WO1989008538A1 (en) 1989-09-21
US5119006A (en) 1992-06-02
KR960005985B1 (ko) 1996-05-06
EP0365681B1 (en) 1994-12-07

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Legal Events

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A201 Request for examination
E902 Notification of reason for refusal
G160 Decision to publish patent application
E701 Decision to grant or registration of patent right
NORF Unpaid initial registration fee