JPS647105A - Optimum movement control system for industrial articulated robot - Google Patents

Optimum movement control system for industrial articulated robot

Info

Publication number
JPS647105A
JPS647105A JP62161120A JP16112087A JPS647105A JP S647105 A JPS647105 A JP S647105A JP 62161120 A JP62161120 A JP 62161120A JP 16112087 A JP16112087 A JP 16112087A JP S647105 A JPS647105 A JP S647105A
Authority
JP
Japan
Prior art keywords
robot
time constant
articulated robot
control system
arms
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
JP62161120A
Other languages
English (en)
Other versions
JPH0820893B2 (ja
Inventor
Kenichi Toyoda
Nobutoshi Torii
Akira Nihei
Mitsuhiro Yasumura
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Priority to JP62161120A priority Critical patent/JPH0820893B2/ja
Priority to PCT/JP1988/000656 priority patent/WO1989000305A1/ja
Publication of JPS647105A publication Critical patent/JPS647105A/ja
Publication of JPH0820893B2 publication Critical patent/JPH0820893B2/ja
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • G05B19/418—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]
    • G05B19/4181—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 direct numerical control [DNC]
    • 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
    • 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)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
JP62161120A 1987-06-30 1987-06-30 産業用多関節ロボットの最適移動制御方式 Expired - Lifetime JPH0820893B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP62161120A JPH0820893B2 (ja) 1987-06-30 1987-06-30 産業用多関節ロボットの最適移動制御方式
PCT/JP1988/000656 WO1989000305A1 (fr) 1987-06-30 1988-06-30 Procede permettant d'optimiser le fonctionnement d'un robot industriel articule

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62161120A JPH0820893B2 (ja) 1987-06-30 1987-06-30 産業用多関節ロボットの最適移動制御方式

Publications (2)

Publication Number Publication Date
JPS647105A true JPS647105A (en) 1989-01-11
JPH0820893B2 JPH0820893B2 (ja) 1996-03-04

Family

ID=15728982

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62161120A Expired - Lifetime JPH0820893B2 (ja) 1987-06-30 1987-06-30 産業用多関節ロボットの最適移動制御方式

Country Status (2)

Country Link
JP (1) JPH0820893B2 (ja)
WO (1) WO1989000305A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02152778A (ja) * 1988-12-01 1990-06-12 Kubota Ltd 収穫作業機の多関節型アームの伸縮制御装置
US6127792A (en) * 1998-03-30 2000-10-03 Denso Corporation Control apparatus for robot

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5779829A (en) * 1995-08-24 1998-07-14 The Goodyear Tire & Rubber Company Pneumatic tire having a single carcass ply reinforced with metallic cords, a high ending ply, turnup and locked bead construction
JP6339534B2 (ja) 2015-07-17 2018-06-06 ファナック株式会社 最大で二つのワークを把持するハンドを備えたロボットの制御方法およびロボット制御装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61114317A (ja) * 1984-11-08 1986-06-02 Matsushita Electric Ind Co Ltd 産業用ロボツトの教示方法
JPS61159391A (ja) * 1984-12-28 1986-07-19 ソニー株式会社 産業用ロボツトの制御方法
JPS6280706A (ja) * 1985-10-04 1987-04-14 Matsushita Electric Ind Co Ltd ロボツトの位置制御方法

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62143104A (ja) * 1985-12-17 1987-06-26 Matsushita Electric Ind Co Ltd ロボツトの位置制御方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61114317A (ja) * 1984-11-08 1986-06-02 Matsushita Electric Ind Co Ltd 産業用ロボツトの教示方法
JPS61159391A (ja) * 1984-12-28 1986-07-19 ソニー株式会社 産業用ロボツトの制御方法
JPS6280706A (ja) * 1985-10-04 1987-04-14 Matsushita Electric Ind Co Ltd ロボツトの位置制御方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02152778A (ja) * 1988-12-01 1990-06-12 Kubota Ltd 収穫作業機の多関節型アームの伸縮制御装置
US6127792A (en) * 1998-03-30 2000-10-03 Denso Corporation Control apparatus for robot
DE19914245B4 (de) * 1998-03-30 2009-05-07 Denso Corp., Kariya-shi Roboter-Steuervorrichtung

Also Published As

Publication number Publication date
WO1989000305A1 (fr) 1989-01-12
JPH0820893B2 (ja) 1996-03-04

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