ATE422254T1 - Verfahren und einrichtung zur steuerung von verschiebungen des beweglichen teils eines mehrachsenroboters - Google Patents

Verfahren und einrichtung zur steuerung von verschiebungen des beweglichen teils eines mehrachsenroboters

Info

Publication number
ATE422254T1
ATE422254T1 AT04816425T AT04816425T ATE422254T1 AT E422254 T1 ATE422254 T1 AT E422254T1 AT 04816425 T AT04816425 T AT 04816425T AT 04816425 T AT04816425 T AT 04816425T AT E422254 T1 ATE422254 T1 AT E422254T1
Authority
AT
Austria
Prior art keywords
axis robot
trajectory
movement
moving part
tangent
Prior art date
Application number
AT04816425T
Other languages
English (en)
Inventor
Luc Joly
Original Assignee
Staubli Sa Ets
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 Staubli Sa Ets filed Critical Staubli Sa Ets
Application granted granted Critical
Publication of ATE422254T1 publication Critical patent/ATE422254T1/de

Links

Classifications

    • 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/19—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/237—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/232 - G05B19/235

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
AT04816425T 2003-12-19 2004-12-17 Verfahren und einrichtung zur steuerung von verschiebungen des beweglichen teils eines mehrachsenroboters ATE422254T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0315068A FR2864266B1 (fr) 2003-12-19 2003-12-19 Procede et dispositif de commande des deplacements d'une partie mobile d'un robot multi-axes

Publications (1)

Publication Number Publication Date
ATE422254T1 true ATE422254T1 (de) 2009-02-15

Family

ID=34630392

Family Applications (1)

Application Number Title Priority Date Filing Date
AT04816425T ATE422254T1 (de) 2003-12-19 2004-12-17 Verfahren und einrichtung zur steuerung von verschiebungen des beweglichen teils eines mehrachsenroboters

Country Status (8)

Country Link
US (1) US7853358B2 (de)
EP (1) EP1695160B1 (de)
JP (1) JP2007515301A (de)
CN (1) CN100476654C (de)
AT (1) ATE422254T1 (de)
DE (1) DE602004019345D1 (de)
FR (1) FR2864266B1 (de)
WO (1) WO2005062143A1 (de)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006048684A1 (de) * 2006-10-14 2008-04-17 Dr. Johannes Heidenhain Gmbh Verfahren zum Positionieren von Achsen in Werkzeugmaschinen
WO2009113360A1 (ja) * 2008-03-10 2009-09-17 本田技研工業株式会社 ドア取り外しシステムおよびドア取り外し方法
FR2960074B1 (fr) * 2010-05-14 2012-06-15 Staubli Sa Ets Procede de commande d'une cellule de travail automatisee
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
DE102011079116A1 (de) * 2011-07-14 2013-01-17 Kuka Roboter Gmbh Verfahren zum Überprüfen der Plausibilität der Ausgangssignale eines Resolvers
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
KR102964615B1 (ko) 2012-08-03 2026-05-14 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법
JP6111562B2 (ja) * 2012-08-31 2017-04-12 セイコーエプソン株式会社 ロボット
US9486918B1 (en) * 2013-03-13 2016-11-08 Hrl Laboratories, Llc System and method for quick scripting of tasks for autonomous robotic manipulation
CN103821397B (zh) * 2014-03-13 2017-03-29 徐州工程学院 立体停车场液压升降机速度及定位控制系统
US10603794B2 (en) * 2015-08-27 2020-03-31 Accel Robotics Corporation Robotic camera system
US9975244B1 (en) * 2016-08-02 2018-05-22 X Development Llc Real-time generation of trajectories for actuators of a robot
JP6895242B2 (ja) * 2016-11-25 2021-06-30 株式会社東芝 ロボット制御装置、ロボット制御方法及びピッキング装置
WO2018112025A1 (en) 2016-12-16 2018-06-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
JP6828572B2 (ja) * 2017-04-18 2021-02-10 富士通株式会社 ロボット移動時間推定プログラム及びロボット移動時間推定方法
FR3097565B1 (fr) * 2019-06-19 2022-08-12 Staubli Sa Ets Machine textile, métier à tisser comportant une telle machine textile et procédés associés
FR3133779A1 (fr) * 2022-03-25 2023-09-29 Staubli Faverges Systèmes et procédés de commande hybride position force d’un robot industriel
FR3133930A1 (fr) * 2022-03-25 2023-09-29 Staubli Faverges Systèmes et procédés de commande hybride position force d’un robot industriel
CN114800535B (zh) * 2022-06-29 2022-10-25 深圳鹏行智能研究有限公司 机器人的控制方法、机械臂控制方法、机器人及控制终端

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4773025A (en) * 1986-11-20 1988-09-20 Unimation, Inc. Multiaxis robot control having curve fitted path control
JP2676793B2 (ja) * 1988-06-30 1997-11-17 トヨタ自動車株式会社 倣い制御ロボット
JP2507891B2 (ja) * 1989-02-01 1996-06-19 工業技術院長 マニピュレ―タのインピ―ダンス制御方式
JP2773778B2 (ja) * 1990-03-07 1998-07-09 富士通株式会社 力制御ロボットの倣い装置
JPH04273502A (ja) * 1991-02-28 1992-09-29 Kobe Steel Ltd マニピュレータの制御装置
JPH0651838A (ja) * 1992-08-03 1994-02-25 Fujitsu Ltd 倣い制御装置
KR100242447B1 (ko) * 1997-12-31 2000-04-01 윤종용 로봇 제어를 위한 경로 계획 장치 및 경로 계획 방법
JP3323912B2 (ja) * 1999-06-21 2002-09-09 独立行政法人 航空宇宙技術研究所 予測力による拘束軌道作業の制御方法及びそのシステム
JP3359011B2 (ja) * 1999-10-12 2002-12-24 川崎重工業株式会社 スポット溶接ロボット
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
JP2002035951A (ja) * 2000-07-18 2002-02-05 Mazda Motor Corp 被溶接部材位置検出方法およびその装置
US6812665B2 (en) * 2002-04-19 2004-11-02 Abb Ab In-process relative robot workcell calibration

Also Published As

Publication number Publication date
CN1894640A (zh) 2007-01-10
DE602004019345D1 (de) 2009-03-19
US20080147238A1 (en) 2008-06-19
FR2864266A1 (fr) 2005-06-24
FR2864266B1 (fr) 2006-02-17
JP2007515301A (ja) 2007-06-14
EP1695160A1 (de) 2006-08-30
US7853358B2 (en) 2010-12-14
EP1695160B1 (de) 2009-02-04
WO2005062143A1 (fr) 2005-07-07
CN100476654C (zh) 2009-04-08

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