JPS5936811A - ロボツトハンドの経路補間方法 - Google Patents

ロボツトハンドの経路補間方法

Info

Publication number
JPS5936811A
JPS5936811A JP14615182A JP14615182A JPS5936811A JP S5936811 A JPS5936811 A JP S5936811A JP 14615182 A JP14615182 A JP 14615182A JP 14615182 A JP14615182 A JP 14615182A JP S5936811 A JPS5936811 A JP S5936811A
Authority
JP
Japan
Prior art keywords
point
path
speed
interpolation
vector
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.)
Granted
Application number
JP14615182A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0127443B2 (2
Inventor
Muneyuki Sakagami
坂上　志之
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.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
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 Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP14615182A priority Critical patent/JPS5936811A/ja
Publication of JPS5936811A publication Critical patent/JPS5936811A/ja
Publication of JPH0127443B2 publication Critical patent/JPH0127443B2/ja
Granted 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
    • G05B19/18—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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • 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
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
JP14615182A 1982-08-25 1982-08-25 ロボツトハンドの経路補間方法 Granted JPS5936811A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP14615182A JPS5936811A (ja) 1982-08-25 1982-08-25 ロボツトハンドの経路補間方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP14615182A JPS5936811A (ja) 1982-08-25 1982-08-25 ロボツトハンドの経路補間方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP10293190A Division JPH02288903A (ja) 1990-04-20 1990-04-20 ロボットハンドの経路補間方法

Publications (2)

Publication Number Publication Date
JPS5936811A true JPS5936811A (ja) 1984-02-29
JPH0127443B2 JPH0127443B2 (2) 1989-05-29

Family

ID=15401283

Family Applications (1)

Application Number Title Priority Date Filing Date
JP14615182A Granted JPS5936811A (ja) 1982-08-25 1982-08-25 ロボツトハンドの経路補間方法

Country Status (1)

Country Link
JP (1) JPS5936811A (2)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60193015A (ja) * 1984-03-14 1985-10-01 Hitachi Ltd ロボツトハンドの経路補間方法
JPS6197708A (ja) * 1984-10-18 1986-05-16 Komatsu Ltd ロボツトの連続経路創成方法
JPS61122710A (ja) * 1984-11-20 1986-06-10 Matsushita Electric Ind Co Ltd ロボツトの速度制御方法
JPS61156309A (ja) * 1984-12-27 1986-07-16 Toshiba Mach Co Ltd 速度段差平滑機能を備えた数値制御装置
JPS61157909A (ja) * 1984-12-29 1986-07-17 Fanuc Ltd ロボツトの経路誤差補正方式
JPS635410A (ja) * 1986-06-26 1988-01-11 Yokogawa Electric Corp ロボツト制御装置
JPS6310207A (ja) * 1986-07-02 1988-01-16 Matsushita Electric Ind Co Ltd 多関節ロボットの制御方法
JPS6426911A (en) * 1987-07-23 1989-01-30 Daikin Ind Ltd Locus control method for robot
JP2012137990A (ja) * 2010-12-27 2012-07-19 Brother Ind Ltd 数値制御装置、移動制御方法、移動制御プログラム及び記憶媒体

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5574605A (en) * 1978-11-29 1980-06-05 Hitachi Ltd Operation control system for industrial robbot or the like
JPS55118107A (en) * 1979-03-05 1980-09-10 Hitachi Ltd Method and device for control of automatic working device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5574605A (en) * 1978-11-29 1980-06-05 Hitachi Ltd Operation control system for industrial robbot or the like
JPS55118107A (en) * 1979-03-05 1980-09-10 Hitachi Ltd Method and device for control of automatic working device

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60193015A (ja) * 1984-03-14 1985-10-01 Hitachi Ltd ロボツトハンドの経路補間方法
JPS6197708A (ja) * 1984-10-18 1986-05-16 Komatsu Ltd ロボツトの連続経路創成方法
JPS61122710A (ja) * 1984-11-20 1986-06-10 Matsushita Electric Ind Co Ltd ロボツトの速度制御方法
JPS61156309A (ja) * 1984-12-27 1986-07-16 Toshiba Mach Co Ltd 速度段差平滑機能を備えた数値制御装置
JPS61157909A (ja) * 1984-12-29 1986-07-17 Fanuc Ltd ロボツトの経路誤差補正方式
JPS635410A (ja) * 1986-06-26 1988-01-11 Yokogawa Electric Corp ロボツト制御装置
JPS6310207A (ja) * 1986-07-02 1988-01-16 Matsushita Electric Ind Co Ltd 多関節ロボットの制御方法
JPS6426911A (en) * 1987-07-23 1989-01-30 Daikin Ind Ltd Locus control method for robot
JP2012137990A (ja) * 2010-12-27 2012-07-19 Brother Ind Ltd 数値制御装置、移動制御方法、移動制御プログラム及び記憶媒体

Also Published As

Publication number Publication date
JPH0127443B2 (2) 1989-05-29

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