ES2094280T3 - Procedimiento de generacion de trayectoria para un sistema robotizado. - Google Patents

Procedimiento de generacion de trayectoria para un sistema robotizado.

Info

Publication number
ES2094280T3
ES2094280T3 ES92203271T ES92203271T ES2094280T3 ES 2094280 T3 ES2094280 T3 ES 2094280T3 ES 92203271 T ES92203271 T ES 92203271T ES 92203271 T ES92203271 T ES 92203271T ES 2094280 T3 ES2094280 T3 ES 2094280T3
Authority
ES
Spain
Prior art keywords
movement
organ
path generation
main movement
speed
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 - Lifetime
Application number
ES92203271T
Other languages
English (en)
Inventor
Frederic Sgarbi
Riadh Cammoun
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Application granted granted Critical
Publication of ES2094280T3 publication Critical patent/ES2094280T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43009—Acceleration deceleration for each block of data, segment
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43056—Asynchronous acceleration between slow, fast axes, rotational, linear axes
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43105—ADC time constants as function of type of axis rotational or linear
    • 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
    • G05B2219/45151—Deburring

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PROCESO DE GENERACION DE TRAYECTORIA PARA UN SISTEMA ROBOTIZADO (4) QUE COMPRENDE AL MENOS UN ORGANO (5) QUE PERMITE VARIAR EN TIEMPO REAL LA VELOCIDAD DE MOVIMIENTO. EL PROCESO CONSISTE EN ELEGIR UN MOVIMIENTO PRINCIPAL, POR EJEMPLO EL MOVIMIENTO DE TRANSLACION DEL ORGANO, POR EL QUE TODOS LOS OTROS SON CONTROLADOS. EL MOVIMIENTO PRINCIPAL SE LLEVA A CABO SOBRE LA TRAYECTORIA DESCOMPUESTA EN TROZOS A UNA VELOCIDAD QUE ASEGURA LA POSIBILIDAD DE DETENER EL ORGANO AL FINAL DEL TROZO QUE SIGUE EL QUE ES RECORRIDO. LOS MOVIMIENTO CONTROLADOS SON RECORRIDOS TANTAS VECES COMO ES POSIBLE EN SINCRONIZACION CON EL MOVIMIENTO PRINCIPAL. LA INVENCION PUEDE APLICARSE POR EJEMPLO AL DESBARBADO AUTOMATICO DE PIEZAS DE FORMA COMPLEJA. SE PUEDEN CONCEBIR SISTEMAS ROBOTIZADOS FORMADOS POR VARIOS SOLIDOS MOVILES INDEPENDIENTEMENTE Y COORDENADOS POR EL PROCESO, O INCLUSO VARIAS ORDENES DE CONTROL.
ES92203271T 1991-10-28 1992-10-26 Procedimiento de generacion de trayectoria para un sistema robotizado. Expired - Lifetime ES2094280T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9113250A FR2682905B1 (fr) 1991-10-28 1991-10-28 Procede de generation de trajectoire pour un systeme robotise.

Publications (1)

Publication Number Publication Date
ES2094280T3 true ES2094280T3 (es) 1997-01-16

Family

ID=9418355

Family Applications (1)

Application Number Title Priority Date Filing Date
ES92203271T Expired - Lifetime ES2094280T3 (es) 1991-10-28 1992-10-26 Procedimiento de generacion de trayectoria para un sistema robotizado.

Country Status (5)

Country Link
US (1) US5394513A (es)
EP (1) EP0544346B1 (es)
DE (1) DE69213664T2 (es)
ES (1) ES2094280T3 (es)
FR (1) FR2682905B1 (es)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5426722A (en) * 1993-09-09 1995-06-20 Stratasys, Inc. Method for optimizing the motion of a multi-axis robot
US6060853A (en) * 1997-09-04 2000-05-09 Cybo Robots, Inc. Removable robotic sensor assembly
JP3352986B2 (ja) * 1999-12-17 2002-12-03 スター精密株式会社 工作機械の駆動制御装置
ATE377784T1 (de) 2001-06-11 2007-11-15 Tornos Sa Fabrique De Machine Verfahren zur berechnung von parametern einer spatial zeitlichen bewegungsbahn
DE10149175A1 (de) * 2001-10-04 2003-04-17 Heidenhain Gmbh Dr Johannes Verfahren zur Bahnsteuerung
GB2418033B (en) * 2003-06-02 2007-06-20 Honda Motor Co Ltd Teaching data preparing method for articulated robot
WO2005014241A1 (de) * 2003-07-26 2005-02-17 Erwin Rothballer Verfahren zum programmieren einer verfahrbewegung eines handhabungsgeräts
JP3907649B2 (ja) * 2004-09-02 2007-04-18 ファナック株式会社 ロボット間の干渉防止制御装置
JP4504228B2 (ja) * 2005-03-01 2010-07-14 川崎重工業株式会社 ロボットの制御装置および制御方法
JP6630073B2 (ja) 2015-07-09 2020-01-15 株式会社Ｓｕｂａｒｕ 機械加工装置及び機械加工方法
US10318904B2 (en) 2016-05-06 2019-06-11 General Electric Company Computing system to control the use of physical state attainment of assets to meet temporal performance criteria
US11338446B2 (en) 2016-12-28 2022-05-24 Subaru Corporation Machining robot and machining method
WO2018235429A1 (ja) 2017-06-22 2018-12-27 株式会社Ｓｕｂａｒｕ 機械加工装置用のアタッチメント
CN117884935A (zh) * 2024-01-17 2024-04-16 无锡南兴装备有限公司 一种封边机两棱角跟踪修边装置的控制系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1189959A (en) * 1965-09-03 1970-04-29 Olivetti & Co Spa Improvements in Numerical Control Devices
US4035706A (en) * 1973-07-26 1977-07-12 Hymie Cutler Offset path generating system particularly useful for numerical control machines
SE401637B (sv) * 1976-03-29 1978-05-22 Asea Ab Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse
JPS59106007A (ja) * 1982-12-10 1984-06-19 Toyota Central Res & Dev Lab Inc 多関節型ロボツトの軌跡制御装置
US4598380A (en) * 1984-08-13 1986-07-01 Cincinnati Milacron Inc. Method and apparatus for controlling manipulator and workpiece positioner
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
JP2729254B2 (ja) * 1988-08-05 1998-03-18 信淳 渡辺 低分極性炭素電極
DE68922684T2 (de) * 1988-10-14 1995-10-19 Hitachi Construction Machinery Profilsteuersystem für eine gegebene gekrümmte Fläche.

Also Published As

Publication number Publication date
EP0544346A1 (fr) 1993-06-02
FR2682905B1 (fr) 1995-12-01
DE69213664T2 (de) 1997-03-20
EP0544346B1 (fr) 1996-09-11
DE69213664D1 (de) 1996-10-17
US5394513A (en) 1995-02-28
FR2682905A1 (fr) 1993-04-30

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