CA1119279A - Appareil autonome d'aide a l'enseignement et appareil de controle en direct - Google Patents

Appareil autonome d'aide a l'enseignement et appareil de controle en direct

Info

Publication number
CA1119279A
CA1119279A CA000323356A CA323356A CA1119279A CA 1119279 A CA1119279 A CA 1119279A CA 000323356 A CA000323356 A CA 000323356A CA 323356 A CA323356 A CA 323356A CA 1119279 A CA1119279 A CA 1119279A
Authority
CA
Canada
Prior art keywords
workpiece
arm
manipulator
signals
velocity
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.)
Expired
Application number
CA000323356A
Other languages
English (en)
Inventor
Yung-Ming Yen-Chen
William Perzley
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.)
Unimation Inc
Original Assignee
Unimation Inc
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 Unimation Inc filed Critical Unimation Inc
Application granted granted Critical
Publication of CA1119279A publication Critical patent/CA1119279A/fr
Expired legal-status Critical Current

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
    • G05B19/42—Recording and playback systems, i.e. in which the program 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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0093—Program-controlled manipulators co-operating with conveyor means
    • 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
    • B25J9/1602—Program 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39133—Convert teached program for fixed workpiece to program for moving workpiece
    • 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
    • G05B2219/45213—Integrated manufacturing system ims, transfer line, machining center
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Fuzzy Systems (AREA)
  • Evolutionary Computation (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
CA000323356A 1978-04-20 1979-03-13 Appareil autonome d'aide a l'enseignement et appareil de controle en direct Expired CA1119279A (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US89811278A 1978-04-20 1978-04-20
US898,112 1978-04-20

Publications (1)

Publication Number Publication Date
CA1119279A true CA1119279A (fr) 1982-03-02

Family

ID=25408963

Family Applications (1)

Application Number Title Priority Date Filing Date
CA000323356A Expired CA1119279A (fr) 1978-04-20 1979-03-13 Appareil autonome d'aide a l'enseignement et appareil de controle en direct

Country Status (4)

Country Link
JP (1) JPS54141972A (fr)
AU (1) AU520285B2 (fr)
CA (1) CA1119279A (fr)
GB (1) GB2027938B (fr)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
IT1144709B (it) * 1981-05-15 1986-10-29 Dea Spa Sistema di misura dimensionale servito da una pluralita di bracci operativi e controllato da un sistema a calcolatore
IT1144708B (it) * 1981-05-15 1986-10-29 Dea Spa Sistema di produzione industriale servito da una pluralita di bracci operativi e controllato da un sistema a calcolatore
IT1144707B (it) * 1981-05-15 1986-10-29 Dea Spa Unita a braccio operativo controllata da un sistema a calcolatore
EP0075325B1 (fr) * 1981-09-22 1988-12-14 Kabushiki Kaisha Sankyo Seiki Seisakusho Dispositif et méthode de commande pour un robot industriel
JPS5858607A (ja) * 1981-10-05 1983-04-07 Sankyo Seiki Mfg Co Ltd プリセツト式ロボツトにおけるポイント測定方式
JPS58143981A (ja) * 1982-02-19 1983-08-26 株式会社日立製作所 産業用ロボツトの制御方法
CA1184273A (fr) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Appareil de commande de robot
JPS59223812A (ja) * 1983-06-02 1984-12-15 Nippon Denshi Kagaku Kk ロボツト制御装置
JPS603009A (ja) * 1983-06-20 1985-01-09 Nippon Denshi Kagaku Kk ロボツト制御装置
US4623971A (en) 1983-06-30 1986-11-18 Cincinnati Milacron Inc. Machine control with motor velocity constraint
JPS60134306A (ja) * 1983-12-21 1985-07-17 Fujitsu Denso Ltd 部品自動插入システム用プログラム開発装置
JPS62295893A (ja) * 1986-06-17 1987-12-23 フアナツク株式会社 ロボツトの制御方式
JP2707087B2 (ja) * 1987-09-09 1998-01-28 ファナック株式会社 ロボット制御装置
AU602996B2 (en) * 1987-10-23 1990-11-01 Mitsubishi Jukogyo Kabushiki Kaisha Control systems of an industrial robot
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
JP2512099B2 (ja) * 1988-08-24 1996-07-03 松下電器産業株式会社 ロボットの動作教示方法および制御装置
US5079491A (en) * 1989-05-23 1992-01-07 Honda Giken Kogyo Kabushiki Kaisha Robot control system
US7627394B2 (en) 2005-12-20 2009-12-01 Kuka Roboter Gmbh Robot trajectory control including emergency evacuation path system and method

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5325779A (en) * 1976-08-23 1978-03-09 Hitachi Seiko Ltd Speed operating method in numeric control unit
US4086522A (en) * 1976-09-08 1978-04-25 Unimation, Inc. Computer assisted teaching arrangement for conveyor line operation

Also Published As

Publication number Publication date
AU4530079A (en) 1979-10-25
JPS54141972A (en) 1979-11-05
GB2027938A (en) 1980-02-27
AU520285B2 (en) 1982-01-21
GB2027938B (en) 1982-10-06

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Legal Events

Date Code Title Description
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