CA1282110C - Systeme de mesure de position et de vitesse a retroaction pour commande de robot numerique - Google Patents

Systeme de mesure de position et de vitesse a retroaction pour commande de robot numerique

Info

Publication number: CA1282110C
Authority: CA; Canada
Prior art keywords: velocity; control; increment; feedback; robot
Prior art date: 1986-11-20
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 - Lifetime

Application number

CA000550155A

Other languages

English (en)

Inventor

Kenneth E. Daggett

Eimei M. Onaga

Richard J. Casler, Jr.

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.)

Staeubli International AG

Unimation Inc

Original Assignee

Staeubli International AG

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.)

1986-11-20

Filing date

1987-10-23

Publication date

1991-03-26

1987-10-23 Application filed by Staeubli International AG, Unimation Inc filed Critical Staeubli International AG

1991-03-26 Application granted granted Critical

1991-03-26 Publication of CA1282110C publication Critical patent/CA1282110C/fr

2008-03-26 Anticipated expiration legal-status Critical

Status Expired - Lifetime legal-status Critical Current

Links

238000005070 sampling Methods 0.000 claims description 13
238000005065 mining Methods 0.000 claims description 2
230000001360 synchronised effect Effects 0.000 claims 3
230000008859 change Effects 0.000 abstract description 11
238000000034 method Methods 0.000 abstract description 4
230000008569 process Effects 0.000 abstract description 3
230000033001 locomotion Effects 0.000 description 8
230000001133 acceleration Effects 0.000 description 6
238000010586 diagram Methods 0.000 description 6
230000003287 optical effect Effects 0.000 description 5
238000004364 calculation method Methods 0.000 description 4
238000004519 manufacturing process Methods 0.000 description 4
238000004422 calculation algorithm Methods 0.000 description 3
230000006870 function Effects 0.000 description 3
238000003466 welding Methods 0.000 description 3
210000000707 wrist Anatomy 0.000 description 3
238000006243 chemical reaction Methods 0.000 description 2
238000004891 communication Methods 0.000 description 2
230000001419 dependent effect Effects 0.000 description 2
239000012636 effector Substances 0.000 description 2
230000006872 improvement Effects 0.000 description 2
238000011068 loading method Methods 0.000 description 2
230000003252 repetitive effect Effects 0.000 description 2
238000000638 solvent extraction Methods 0.000 description 2
BWSIKGOGLDNQBZ-LURJTMIESA-N (2s)-2-(methoxymethyl)pyrrolidin-1-amine Chemical compound COC[C@@H]1CCCN1N BWSIKGOGLDNQBZ-LURJTMIESA-N 0.000 description 1
230000009471 action Effects 0.000 description 1
238000013459 approach Methods 0.000 description 1
239000011449 brick Substances 0.000 description 1
239000000872 buffer Substances 0.000 description 1
230000008878 coupling Effects 0.000 description 1
238000010168 coupling process Methods 0.000 description 1
238000005859 coupling reaction Methods 0.000 description 1
125000004122 cyclic group Chemical group 0.000 description 1
238000009795 derivation Methods 0.000 description 1
238000004512 die casting Methods 0.000 description 1
238000005516 engineering process Methods 0.000 description 1
238000007667 floating Methods 0.000 description 1
238000005242 forging Methods 0.000 description 1
239000011521 glass Substances 0.000 description 1
238000010438 heat treatment Methods 0.000 description 1
238000007689 inspection Methods 0.000 description 1
238000005495 investment casting Methods 0.000 description 1
238000005304 joining Methods 0.000 description 1
239000000463 material Substances 0.000 description 1
238000005259 measurement Methods 0.000 description 1
230000007246 mechanism Effects 0.000 description 1
239000002184 metal Substances 0.000 description 1
238000012544 monitoring process Methods 0.000 description 1
238000010137 moulding (plastic) Methods 0.000 description 1
230000008520 organization Effects 0.000 description 1
239000000047 product Substances 0.000 description 1
230000004044 response Effects 0.000 description 1
239000000565 sealant Substances 0.000 description 1
238000007592 spray painting technique Methods 0.000 description 1
239000013589 supplement Substances 0.000 description 1
238000012360 testing method Methods 0.000 description 1
230000007704 transition Effects 0.000 description 1

Landscapes

Manipulator (AREA)
Control Of Position Or Direction (AREA)

CA000550155A 1986-11-20 1987-10-23 Systeme de mesure de position et de vitesse a retroaction pour commande de robot numerique Expired - Lifetime CA1282110C (fr)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
US93285386A	1986-11-20	1986-11-20
US932,853		1986-11-20

Publications (1)

Publication Number	Publication Date
CA1282110C true CA1282110C (fr)	1991-03-26

Family

ID=25463061

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
CA000550155A Expired - Lifetime CA1282110C (fr)	1986-11-20	1987-10-23	Systeme de mesure de position et de vitesse a retroaction pour commande de robot numerique

Country Status (1)

Country	Link
CA (1)	CA1282110C (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CN116002386A (zh) *	2022-12-30	2023-04-25	北京爱创科技股份有限公司	一种码垛机无损同步关联的方法及系统

1987
- 1987-10-23 CA CA000550155A patent/CA1282110C/fr not_active Expired - Lifetime

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CN116002386A (zh) *	2022-12-30	2023-04-25	北京爱创科技股份有限公司	一种码垛机无损同步关联的方法及系统
CN116002386B (zh) *	2022-12-30	2026-02-27	北京爱创科技股份有限公司	一种码垛机无损同步关联的方法及系统

Similar Documents

Publication	Publication Date	Title
US4876494A (en)	1989-10-24	Position and velocity feedback system for a digital robot control
US4829219A (en)	1989-05-09	Multiaxis robot having improved motion control through variable acceleration/deceleration profiling
US4807153A (en)	1989-02-21	Multiaxis digital robot control having a backup velocity monitor and protection system
US4894598A (en)	1990-01-16	Digital robot control having an improved pulse width modulator
US4773025A (en)	1988-09-20	Multiaxis robot control having curve fitted path control
US4774445A (en)	1988-09-27	Multiaxis robot control having capability for executing timed moves
US4772831A (en)	1988-09-20	Multiaxis robot control having improved continuous path operation
US4864206A (en)	1989-09-05	Multiaxis robot control having improved energy monitoring system for protecting robots against joint motor overload
US4868474A (en)	1989-09-19	Multiprocessor position/velocity servo control for multiaxis digital robot control system
US4908556A (en)	1990-03-13	Modular robot control system
US4925312A (en)	1990-05-15	Robot control system having adaptive feedforward torque control for improved accuracy
US5047700A (en)	1991-09-10	Universal computer control system for motors
US4763055A (en)	1988-08-09	Digital robot control having high performance servo control system
US4962338A (en)	1990-10-09	Universal robot control board configuration
US4851748A (en)	1989-07-25	Basic digital multi-axis robot control having modular performance expansion capability
US4874997A (en)	1989-10-17	Digital robot control providing pulse width modulation for a brushless DC drive
EP0268495A2 (fr)	1988-05-25	Système modulaire de commande pour un robot
US4621332A (en)	1986-11-04	Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
Bejczy et al.	1987	Universal computer control systems (uccs) for space telerobots
US4904152A (en)	1990-02-27	Industrial robot
US4868472A (en)	1989-09-19	Communication interface for multi-microprocessor servo control in a multi-axis robot control system
US5144211A (en)	1992-09-01	Multiaxis robot controller having workpoint torque control
EP0268491A2 (fr)	1988-05-25	Robot multiaxal à commande de mouvement
GB2092776A (en)	1982-08-18	Method of sensing abnormal condition in robot control apparatus
US4902944A (en)	1990-02-20	Digital robot control having an improved current sensing system for power amplifiers in a digital robot control

Legal Events

Date	Code	Title	Description
1993-09-28	MKLA	Lapsed