ATE178252T1 - System und verfahren zum verfolgen eines merkmals auf einem objekt mittels einer redundanten achse - Google Patents

System und verfahren zum verfolgen eines merkmals auf einem objekt mittels einer redundanten achse

Info

Publication number
ATE178252T1
ATE178252T1 AT94904936T AT94904936T ATE178252T1 AT E178252 T1 ATE178252 T1 AT E178252T1 AT 94904936 T AT94904936 T AT 94904936T AT 94904936 T AT94904936 T AT 94904936T AT E178252 T1 ATE178252 T1 AT E178252T1
Authority
AT
Austria
Prior art keywords
workpiece
robot
freedom
seam
pct
Prior art date
Application number
AT94904936T
Other languages
English (en)
Inventor
Jan Paul Huissoon
David Lawrence Strauss
Original Assignee
Jan Paul Huissoon
David Lawrence Strauss
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 Jan Paul Huissoon, David Lawrence Strauss filed Critical Jan Paul Huissoon
Application granted granted Critical
Publication of ATE178252T1 publication Critical patent/ATE178252T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
    • B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Control Of Position Or Direction (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)
  • Blow-Moulding Or Thermoforming Of Plastics Or The Like (AREA)
AT94904936T 1993-01-11 1994-01-11 System und verfahren zum verfolgen eines merkmals auf einem objekt mittels einer redundanten achse ATE178252T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB939300403A GB9300403D0 (en) 1993-01-11 1993-01-11 Dynamic seam tracking with redundant axes control

Publications (1)

Publication Number Publication Date
ATE178252T1 true ATE178252T1 (de) 1999-04-15

Family

ID=10728524

Family Applications (1)

Application Number Title Priority Date Filing Date
AT94904936T ATE178252T1 (de) 1993-01-11 1994-01-11 System und verfahren zum verfolgen eines merkmals auf einem objekt mittels einer redundanten achse

Country Status (10)

Country Link
US (1) US5465037A (de)
EP (1) EP0678066B1 (de)
JP (1) JPH08505091A (de)
KR (1) KR100311663B1 (de)
AT (1) ATE178252T1 (de)
AU (1) AU5877594A (de)
CA (1) CA2153334C (de)
DE (1) DE69417540D1 (de)
GB (1) GB9300403D0 (de)
WO (1) WO1994015758A1 (de)

Families Citing this family (83)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3040670B2 (ja) * 1994-08-22 2000-05-15 ファナック株式会社 レーザセンサを用いた溶接線追従方法及びロボット制御装置
JPH08123536A (ja) * 1994-10-25 1996-05-17 Fanuc Ltd 溶接トーチ姿勢の教示方法
IL121458A0 (en) * 1997-08-03 1998-02-08 Lipsker Daniel Rapid prototyping
EP0931649A3 (de) * 1998-01-27 2000-04-26 Eastman Kodak Company Gerät und Verfahren zum Bedrucken einer profilierten Oberfläche mit komplexer Topologie
US6578276B2 (en) * 1998-01-27 2003-06-17 Eastman Kodak Company Apparatus and method for marking multiple colors on a contoured surface having a complex topography
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
US6243621B1 (en) * 1998-03-13 2001-06-05 Fanuc Robotics North America, Inc. Method of determining workpiece positions including coordinated motion
US6173882B1 (en) 1998-05-12 2001-01-16 Chrysler Corporation Method and apparatus for holding a workpiece during welding
US5959425A (en) * 1998-10-15 1999-09-28 Fanuc Robotics North America, Inc. Vision guided automatic robotic path teaching method
JP2000271888A (ja) * 1999-03-25 2000-10-03 Fanuc Ltd ロボット制御装置
US6430472B1 (en) 1999-12-20 2002-08-06 Servo-Robot Inc. Robot feature tracking devices and methods
US6385508B1 (en) * 2000-10-31 2002-05-07 Fanuc Robotics North America, Inc. Lead-through teach handle assembly and method of teaching a robot assembly
US6749764B1 (en) * 2000-11-14 2004-06-15 Tru-Si Technologies, Inc. Plasma processing comprising three rotational motions of an article being processed
GB0118307D0 (en) * 2001-07-26 2001-09-19 Gsi Lumonics Ltd Automated energy beam positioning
US6868194B2 (en) * 2001-12-19 2005-03-15 General Electric Company Method for the extraction of image features caused by structure light using image reconstruction
DE10257567B4 (de) * 2002-12-10 2015-10-08 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Verfahren und Computerprogramm und computerlesbares Medium zum computergesteuerten Auftragen von Kleberaupen auf ein Bauteil
US20070084838A1 (en) * 2004-12-07 2007-04-19 Chih-Ming Hsu Method and cutting system for cutting a wafer by laser using a vacuum working table
JP4297123B2 (ja) * 2006-03-14 2009-07-15 トヨタ自動車株式会社 移動体の軌道追従制御システム及び軌道追従制御方法
US20080223832A1 (en) * 2006-11-16 2008-09-18 Lijun Song Real time implementation of generalized predictive control algorithm for the control of direct metal deposition (dmd) process
US9937577B2 (en) 2006-12-20 2018-04-10 Lincoln Global, Inc. System for a welding sequencer
US9104195B2 (en) 2006-12-20 2015-08-11 Lincoln Global, Inc. Welding job sequencer
US10994358B2 (en) 2006-12-20 2021-05-04 Lincoln Global, Inc. System and method for creating or modifying a welding sequence based on non-real world weld data
DE102007062109A1 (de) * 2007-12-21 2009-06-25 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Steuern eines Industrieroboters
JP2009166076A (ja) * 2008-01-15 2009-07-30 Kobe Steel Ltd 溶接ロボット
JP4508252B2 (ja) * 2008-03-12 2010-07-21 株式会社デンソーウェーブ ロボット教示装置
US9318026B2 (en) 2008-08-21 2016-04-19 Lincoln Global, Inc. Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment
US8884177B2 (en) 2009-11-13 2014-11-11 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US8915740B2 (en) 2008-08-21 2014-12-23 Lincoln Global, Inc. Virtual reality pipe welding simulator
US8851896B2 (en) 2008-08-21 2014-10-07 Lincoln Global, Inc. Virtual reality GTAW and pipe welding simulator and setup
US9280913B2 (en) 2009-07-10 2016-03-08 Lincoln Global, Inc. Systems and methods providing enhanced education and training in a virtual reality environment
US8834168B2 (en) 2008-08-21 2014-09-16 Lincoln Global, Inc. System and method providing combined virtual reality arc welding and three-dimensional (3D) viewing
US9483959B2 (en) 2008-08-21 2016-11-01 Lincoln Global, Inc. Welding simulator
US9330575B2 (en) 2008-08-21 2016-05-03 Lincoln Global, Inc. Tablet-based welding simulator
US8911237B2 (en) 2008-08-21 2014-12-16 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
US9196169B2 (en) 2008-08-21 2015-11-24 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US8274013B2 (en) 2009-03-09 2012-09-25 Lincoln Global, Inc. System for tracking and analyzing welding activity
US9221117B2 (en) 2009-07-08 2015-12-29 Lincoln Global, Inc. System for characterizing manual welding operations
US9773429B2 (en) 2009-07-08 2017-09-26 Lincoln Global, Inc. System and method for manual welder training
US10748447B2 (en) 2013-05-24 2020-08-18 Lincoln Global, Inc. Systems and methods providing a computerized eyewear device to aid in welding
US9011154B2 (en) 2009-07-10 2015-04-21 Lincoln Global, Inc. Virtual welding system
US8569655B2 (en) 2009-10-13 2013-10-29 Lincoln Global, Inc. Welding helmet with integral user interface
US8569646B2 (en) 2009-11-13 2013-10-29 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9468988B2 (en) 2009-11-13 2016-10-18 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
ES2767882T3 (es) 2010-12-13 2020-06-18 Lincoln Global Inc Sistema de aprendizaje de soldeo
US9573215B2 (en) * 2012-02-10 2017-02-21 Illinois Tool Works Inc. Sound-based weld travel speed sensing system and method
US20160093233A1 (en) 2012-07-06 2016-03-31 Lincoln Global, Inc. System for characterizing manual welding operations on pipe and other curved structures
US9767712B2 (en) 2012-07-10 2017-09-19 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
CN104661612B (zh) 2012-11-30 2017-04-05 奥林巴斯株式会社 手术支持系统和手术支持系统的控制方法
US10930174B2 (en) 2013-05-24 2021-02-23 Lincoln Global, Inc. Systems and methods providing a computerized eyewear device to aid in welding
EP2845696B1 (de) * 2013-09-10 2017-05-17 Siemens Aktiengesellschaft Bearbeitungsmaschine mit redundanten Achsen und Auflösung der Redundanz in Echtzeit
US20150072323A1 (en) 2013-09-11 2015-03-12 Lincoln Global, Inc. Learning management system for a real-time simulated virtual reality welding training environment
US10083627B2 (en) 2013-11-05 2018-09-25 Lincoln Global, Inc. Virtual reality and real welding training system and method
US9836987B2 (en) 2014-02-14 2017-12-05 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
JP6537523B2 (ja) 2014-03-17 2019-07-03 インテュイティブ サージカル オペレーションズ， インコーポレイテッド ツールの姿勢を維持するシステム及び方法
WO2015185972A1 (en) 2014-06-02 2015-12-10 Lincoln Global, Inc. System and method for manual welder training
EP3319066A1 (de) 2016-11-04 2018-05-09 Lincoln Global, Inc. Magnetische frequenzwahl für elektromagnetische positionsverfolgung
US20180130226A1 (en) 2016-11-07 2018-05-10 Lincoln Global, Inc. System and method for calibrating a welding trainer
US10913125B2 (en) 2016-11-07 2021-02-09 Lincoln Global, Inc. Welding system providing visual and audio cues to a welding helmet with a display
CN110505925B (zh) 2017-03-30 2021-07-13 马自达汽车株式会社 涂敷装置及涂敷方法
US10997872B2 (en) 2017-06-01 2021-05-04 Lincoln Global, Inc. Spring-loaded tip assembly to support simulated shielded metal arc welding
US11179793B2 (en) * 2017-09-12 2021-11-23 Autodesk, Inc. Automated edge welding based on edge recognition using separate positioning and welding robots
DE102017123295A1 (de) * 2017-10-06 2019-04-11 Pilz Gmbh & Co. Kg Sicherheitssystem zur Absicherung eines kooperativen Betriebs von Menschen, Robotern und Maschinen
JP6734316B2 (ja) 2018-03-22 2020-08-05 ファナック株式会社 ロボットの動作プログラムの設定装置、ロボット、およびロボットの制御方法
US11557223B2 (en) 2018-04-19 2023-01-17 Lincoln Global, Inc. Modular and reconfigurable chassis for simulated welding training
US11475792B2 (en) 2018-04-19 2022-10-18 Lincoln Global, Inc. Welding simulator with dual-user configuration
EP3788319A1 (de) 2018-04-30 2021-03-10 Path Robotics, Inc. Reflektionsabweisender laserscanner
CN110450150B (zh) * 2018-05-07 2022-10-21 苏州睿牛机器人技术有限公司 轨迹跟踪控制方法及轨迹跟踪系统
CN109226967B (zh) * 2018-07-25 2021-03-09 同高先进制造科技（太仓）有限公司 一种用于激光-电弧复合焊的主动激光视觉稳健焊缝跟踪系统
CN108907455A (zh) * 2018-08-04 2018-11-30 苏州佩恩机器人有限公司 一种基于激光-可见光融合视觉技术的焊缝跟踪系统与方法
US11235412B2 (en) * 2019-01-31 2022-02-01 Trinity Central Maintenance, LLC Welding tool
US12440977B2 (en) * 2020-05-28 2025-10-14 Fanuc Corporation Control device, robot system, and control method for causing robot to execute work on workpiece
US11407110B2 (en) 2020-07-17 2022-08-09 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
JP7553587B2 (ja) * 2020-10-16 2024-09-18 ファナック株式会社 レーザ加工システム及び制御方法
US11648683B2 (en) 2021-02-24 2023-05-16 Path Robotics, Inc. Autonomous welding robots
US12277369B2 (en) 2021-10-18 2025-04-15 Path Robotics, Inc. Generating simulated weld paths for a welding robot
CA3239078A1 (en) 2021-11-19 2023-05-25 Path Robotics, Inc. Machine learning logic-based adjustment techniques for robots
US12508665B2 (en) 2022-04-19 2025-12-30 Path Robotics, Inc. Autonomous assembly robots
US12208530B2 (en) 2022-06-06 2025-01-28 Lincoln Global, Inc. Weld angle correction device
US12420409B2 (en) 2022-06-06 2025-09-23 Lincoln Global, Inc. Weld angle correction device
US12515272B2 (en) 2022-06-06 2026-01-06 Lincoln Global, Inc. Weld angle correction device
US12330298B2 (en) 2022-06-06 2025-06-17 Lincoln Global, Inc. Weld angle correction device
US12521884B2 (en) 2022-07-26 2026-01-13 Path Robotics, Inc. Techniques for multipass welding
CN119426873B (zh) * 2024-12-19 2025-09-23 上海交通大学 异型构件焊缝特征提取和焊接轨迹自动生成的方法及系统

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4531192A (en) * 1982-09-23 1985-07-23 Crc Welding Systems, Inc. Apparatus and method for sensing a workpiece with an electrical arc
US4568816A (en) * 1983-04-19 1986-02-04 Unimation, Inc. Method and apparatus for manipulator welding apparatus with improved weld path definition
GB2146796B (en) * 1983-08-31 1986-12-17 Mitsubishi Electric Corp Method for controlling an industrial robot to perform weaving-like motion and apparatus for practising the same
US4613743A (en) * 1984-12-03 1986-09-23 General Electric Company Arc welding adaptive process control system
US4590356A (en) * 1985-07-12 1986-05-20 General Electric Company Robot navigation method for joint following
US4724301A (en) * 1985-10-21 1988-02-09 Hitachi, Ltd. Apparatus utilizing light stripe image for detecting portion to be welded prior to welding thereof
US4675502A (en) * 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots
US4734572A (en) * 1986-02-14 1988-03-29 Unimation Inc. Dual light source locating and tracking system
SE462022B (sv) * 1986-09-29 1990-04-30 Asea Ab Industrirobotutrustning med organ foer styrning av ett verktyg laengs en bana utmed ett arbetsobjekt
JPH07104692B2 (ja) * 1986-10-02 1995-11-13 トヨタ自動車株式会社 予見追跡制御型ロボツト
US4812614A (en) * 1987-02-26 1989-03-14 Industrial Technology Research Institute Machine vision seam tracking method and apparatus for welding robots
JP2708458B2 (ja) * 1988-04-01 1998-02-04 株式会社豊田中央研究所 倣い制御ロボット
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
JPH02108489A (ja) * 1988-10-17 1990-04-20 Fanuc Ltd 多関節型レーザロボットの手首機構
US4952772A (en) * 1988-11-16 1990-08-28 Westinghouse Electric Corp. Automatic seam tracker and real time error cumulative control system for an industrial robot
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
IT1237707B (it) * 1989-12-20 1993-06-15 Prima Ind Spa Struttura di macchina operatrice

Also Published As

Publication number Publication date
EP0678066A1 (de) 1995-10-25
EP0678066B1 (de) 1999-03-31
JPH08505091A (ja) 1996-06-04
AU5877594A (en) 1994-08-15
CA2153334C (en) 2006-01-03
KR960700128A (ko) 1996-01-19
WO1994015758A1 (en) 1994-07-21
CA2153334A1 (en) 1994-07-21
KR100311663B1 (ko) 2001-12-17
DE69417540D1 (de) 1999-05-06
GB9300403D0 (en) 1993-03-03
US5465037A (en) 1995-11-07

Similar Documents

Publication Publication Date Title
DE69417540D1 (de) System und verfahren zum verfolgen eines merkmals auf einem objekt mittels einer redundanten achse
CN108481323B (zh) 基于增强现实的机器人运动轨迹自动编程系统及方法
US4258425A (en) Self-programmed mechanical working apparatus
DE3578865D1 (de) Vorrichtung zur werkzeugbewegung.
US20120123590A1 (en) System and method for programming robots
ATE43981T1 (de) Industrieroboter zum schweissen und schneiden mittels eines laserstrahls.
EP0370682A3 (de) Automatischer Schweissnahtfolger und Echtzeitfehler-Kumulationssteuerungssystem für einen industriellen Roboter
CN103759635A (zh) 一种精度与机器人无关的扫描测量机器人检测方法
ATE154534T1 (de) Werkzeugsteueranlage bestehend aus einer schweisszange zur durchführung von bestimmten arbeiten an werkstücken und aus einem automatischen positionierungsystem zur steuerung der relativen bewegung der schweisszange in beziehung zu diesem werkstück
EP0323278A3 (de) Automatischer optischer Schweissnahtfolger und Echtzeitsteuerungssystem für einen industriellen Roboter
Hashimoto Training Simulator for Manual Lathe Operation Using Motion Capture–Addition of Teaching Function and Evaluation of Training Effectiveness–
Takanashi 6 DOF manipulators absolute positioning accuracy improvement using a neural-network
JPS6437603A (en) Locus control system for robot
Pickett et al. RoboTeach: An off-line robot programming system based on GMSolid
Moreno et al. On manipulator control via velocity fields
CN212060961U (zh) 一种智能制造系统
JPH04190977A (ja) アーク溶接ロボットの制御方式
Sreekanth et al. Manual guidance of a compliant manipulator during curve-following tasks: Basic framework and preliminary experimental tests
JPS61127007A (ja) ロボツトとワ−クの干渉チエツク方式
Tzafestas et al. A solution to the velocity control of redundant robots
Khademian et al. Experimental performance evaluation of a haptic training simulation system
Jouaneh et al. A kinematic approach for coordinated motion of a robot and a positioning table
JPS57125309A (en) Coordinate reading method
KR100246672B1 (ko) 로보트 레이아웃 캘리브레이션 방법
JPH02274457A (ja) ならい制御装置

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties