ES2002967A6 - Un metodo y una instalacion de robot para el control programado de una herramienta de trabajo - Google Patents

Un metodo y una instalacion de robot para el control programado de una herramienta de trabajo

Info

Publication number
ES2002967A6
ES2002967A6 ES8700478A ES8700478A ES2002967A6 ES 2002967 A6 ES2002967 A6 ES 2002967A6 ES 8700478 A ES8700478 A ES 8700478A ES 8700478 A ES8700478 A ES 8700478A ES 2002967 A6 ES2002967 A6 ES 2002967A6
Authority
ES
Spain
Prior art keywords
programmed control
working tool
coordinate system
robot arm
arm system
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
ES8700478A
Other languages
English (en)
Inventor
Amund Hetland
Odd Terje Hoie
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.)
ABB Trallfa Robot AS
Original Assignee
ABB Trallfa Robot AS
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 ABB Trallfa Robot AS filed Critical ABB Trallfa Robot AS
Publication of ES2002967A6 publication Critical patent/ES2002967A6/es
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

UN METODO E INSTALACION DE ROBOT PARA EL CONTROL PROGRAMADO DE UNA HERRAMIENTA DE TRABAJO, PARA EJECUTAR OPERACIONES DE TRATAMIENTO SOBRE UN OBJETO, SOBRE LA BASE DE UNOS DATOS (K) DE RECORRIDO DE HERRAMIENTA PREPROGRAMADOS ALMACENADOS (L) EN UNA MEMORIA (U) DE DATOS, QUE UTILIZA PARA ESTA FINALIDAD UN SISTEMA (MP) DE BRAZO ROBOT MOVIL SERVOACCIONADO QUE TIENE MAS DE SEIS GRADOS DE LIBERTAD. DURANTE LA PROGRAMACION, QUE SE EJECUTA MEDIANTE LA GUIA MANUAL DE LA HERRAMIENTA Y DEL SISTEMA DE BRAZO ROBOT, DICHOS DATOS DEL RECORRIDO SE DERIVAN EN UN SISTEMA (A) DE COORDENADAS EXTERIOR, SIN CONEXION FISICA CON EL SISTEMA DE BRAZO DE ROBOT. CON LA GUIA MANUAL, LAS PARTES CONTROLADAS DEL SISTEMA ESTAN EN TODO MOMENTO COLOCADAS EN UNA RELACION DE POSICION TAL CON RESPECTO AL SISTEMA DE COORDENADAS EXTERIOR, QUE LA HERRAMIENTA DE TRABAJO PUEDE SER GUIADA MANUALMENTE PARA EJECUTAR LAS OPERACIONES DE TRATAMIENTO PREVISTAS POR MEDIO DE LA PARTE DEL SISTEMA QUE ESTA ASOCIADA AL SISTEMA DE COORDENADAS DEREFERENCIA INTERIOR.
ES8700478A 1986-02-25 1987-02-24 Un metodo y una instalacion de robot para el control programado de una herramienta de trabajo Expired ES2002967A6 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/NO1986/000021 WO1987004968A1 (en) 1986-02-25 1986-02-25 Method and robot installation for programmed control of a working tool

Publications (1)

Publication Number Publication Date
ES2002967A6 true ES2002967A6 (es) 1988-10-01

Family

ID=19907399

Family Applications (1)

Application Number Title Priority Date Filing Date
ES8700478A Expired ES2002967A6 (es) 1986-02-25 1987-02-24 Un metodo y una instalacion de robot para el control programado de una herramienta de trabajo

Country Status (9)

Country Link
US (1) US4920500A (es)
EP (1) EP0261106B1 (es)
JP (1) JPS63502783A (es)
BR (1) BR8607103A (es)
CA (1) CA1272275A (es)
DE (1) DE3666678D1 (es)
ES (1) ES2002967A6 (es)
NO (1) NO166574C (es)
WO (1) WO1987004968A1 (es)

Families Citing this family (20)

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Publication number Priority date Publication date Assignee Title
US4979949A (en) * 1988-04-26 1990-12-25 The Board Of Regents Of The University Of Washington Robot-aided system for surgery
JPH079606B2 (ja) * 1988-09-19 1995-02-01 豊田工機株式会社 ロボット制御装置
GB9021879D0 (en) * 1990-10-09 1990-11-21 Steel Castings Res Apparatus and method for making a shaped article
US5625577A (en) * 1990-12-25 1997-04-29 Shukyohojin, Kongo Zen Sohonzan Shorinji Computer-implemented motion analysis method using dynamics
US5347616A (en) * 1991-01-28 1994-09-13 Tsubakimoto Chain Co. Method of controlling position and attitude of working robot and its manipulator and apparatus thereof
US5341459A (en) * 1991-05-09 1994-08-23 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Generalized compliant motion primitive
US5231693A (en) * 1991-05-09 1993-07-27 The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration Telerobot control system
AU664372B2 (en) * 1991-06-04 1995-11-16 Anca Pty Ltd Improvements in or relating to computer numerically controlled machines
US5542028A (en) * 1991-10-29 1996-07-30 Tsubakimoto Chain Co. Method of controlling position and attitude of working robot and its manipulator and apparatus thereof
US5255571A (en) * 1992-06-25 1993-10-26 United Parcel Service Of America, Inc. Three degree of freedom actuator system
JP3421992B2 (ja) 1993-07-19 2003-06-30 エービービー トラルファ ロボット アクチスカベット ロボット塗装装置
JP3394322B2 (ja) 1994-05-19 2003-04-07 ファナック株式会社 視覚センサを用いた座標系設定方法
WO1996008675A1 (en) * 1994-09-12 1996-03-21 Westinghouse Electric Corporation Remotely operated managed maintenance robotic system
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6822412B1 (en) * 2003-06-11 2004-11-23 Zhongxue Gan Method for calibrating and programming of a robot application
DE102010028135A1 (de) * 2010-04-22 2011-10-27 Trumpf Werkzeugmaschinen Gmbh + Co. Kg NC-Programm und Verfahren zur vereinfachten Nachproduktion an einer Werkzeugmaschine
CN103770115A (zh) * 2014-02-27 2014-05-07 西南大学 一种家蚕吐丝轨迹和速度的控制方法
JP6567819B2 (ja) 2014-12-09 2019-08-28 川崎重工業株式会社 自動生産システム
FR3043004B1 (fr) * 2015-10-29 2017-12-22 Airbus Group Sas Procede d'orientation d'un effecteur portant un outil d'assemblage par rapport a une surface
EP3946825A1 (en) * 2019-03-25 2022-02-09 ABB Schweiz AG Method and control arrangement for determining a relation between a robot coordinate system and a movable apparatus coordinate system

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
US3920972A (en) * 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
US4178632A (en) * 1978-03-06 1979-12-11 Cincinnati Milacron Inc. Method for controlling the operation of a computer operated robot arm
JPS55147770A (en) * 1979-05-08 1980-11-17 Ricoh Co Ltd Edit and forming unit of japanese sentence
JPS56159707A (en) * 1980-05-13 1981-12-09 Daihen Corp Controller of industrial robot
IT1153412B (it) * 1982-01-15 1987-01-14 Basfer Srl Procedimento per la verniciatura automatica di oggetti avanzanti lungo una linea di lavorazione e apparecchiatura per l'attuazione del medesimo procedimento
JPS59107884A (ja) * 1982-12-10 1984-06-22 株式会社日立製作所 ロボツトの制御方式
DE3306877A1 (de) * 1983-02-26 1984-10-04 GdA Gesellschaft für digitale Automation mbH, 8000 München Verfahren zum betreiben eines industrieroboters
JPS59182076A (ja) * 1983-03-31 1984-10-16 株式会社日立製作所 ロボツト据え付け誤差測定装置
JPS59189415A (ja) * 1983-04-13 1984-10-27 Hitachi Ltd 工業用ロボツトの動作教示方法および装置
JPS6044293A (ja) * 1983-08-18 1985-03-09 株式会社日立製作所 産業用ロボットの制御装置
JPS6126111A (ja) * 1984-07-16 1986-02-05 Shin Meiwa Ind Co Ltd 産業用ロボツト

Also Published As

Publication number Publication date
BR8607103A (pt) 1988-02-09
WO1987004968A1 (en) 1987-08-27
US4920500A (en) 1990-04-24
DE3666678D1 (en) 1989-12-07
NO166574C (no) 1991-08-14
NO874324D0 (no) 1987-10-16
CA1272275A (en) 1990-07-31
EP0261106B1 (en) 1989-11-02
JPS63502783A (ja) 1988-10-13
NO166574B (no) 1991-05-06
NO874324L (no) 1987-10-16
EP0261106A1 (en) 1988-03-30

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Legal Events

Date Code Title Description
FD1A Patent lapsed

Effective date: 20011110