NO940178L - Fremgangsmåte for styring av en robot m.h.t. posisjon/kraft - Google Patents

Fremgangsmåte for styring av en robot m.h.t. posisjon/kraft

Info

Publication number
NO940178L
NO940178L NO940178A NO940178A NO940178L NO 940178 L NO940178 L NO 940178L NO 940178 A NO940178 A NO 940178A NO 940178 A NO940178 A NO 940178A NO 940178 L NO940178 L NO 940178L
Authority
NO
Norway
Prior art keywords
gripper
sizes
robot
model
force
Prior art date
Application number
NO940178A
Other languages
English (en)
Norwegian (no)
Other versions
NO940178D0 (no
Inventor
Serge Faure
Alain Gaillet
Regis Lefebvre
Claude Reboulet
Original Assignee
Potain Sa
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 Potain Sa filed Critical Potain Sa
Publication of NO940178D0 publication Critical patent/NO940178D0/no
Publication of NO940178L publication Critical patent/NO940178L/no

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
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1648—Program controls characterised by the control loop non-linear control combined or not with linear control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Nonlinear Science (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
NO940178A 1993-01-19 1994-01-18 Fremgangsmåte for styring av en robot m.h.t. posisjon/kraft NO940178L (no)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9300681A FR2700532B1 (fr) 1993-01-19 1993-01-19 Procédé de commande hybride position/force pour robot manipulateur.

Publications (2)

Publication Number Publication Date
NO940178D0 NO940178D0 (no) 1994-01-18
NO940178L true NO940178L (no) 1994-07-20

Family

ID=9443313

Family Applications (1)

Application Number Title Priority Date Filing Date
NO940178A NO940178L (no) 1993-01-19 1994-01-18 Fremgangsmåte for styring av en robot m.h.t. posisjon/kraft

Country Status (8)

Country Link
US (1) US5469531A (de)
EP (1) EP0608187B1 (de)
JP (1) JPH06278068A (de)
AT (1) ATE151328T1 (de)
DE (1) DE69402444T2 (de)
FI (1) FI940245A7 (de)
FR (1) FR2700532B1 (de)
NO (1) NO940178L (de)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6016385A (en) * 1997-08-11 2000-01-18 Fanu America Corp Real time remotely controlled robot
US6587802B1 (en) * 1998-09-17 2003-07-01 Dr. Johannes Heidenhain Gmbh Calibration device for a parallel kinematic manipulator
US6243624B1 (en) * 1999-03-19 2001-06-05 Northwestern University Non-Linear muscle-like compliant controller
US6943519B2 (en) 2000-04-11 2005-09-13 Siemens Aktiengesellschaft Method and device for weight compensation in a mechanism with closed kinematic chains
KR20040011737A (ko) * 2002-07-30 2004-02-11 정병욱 로봇을 이용한 트럭 로더 시스템 및 그 제어방법
JP4976084B2 (ja) * 2006-09-07 2012-07-18 ニッタ株式会社 位置誤差吸収装置
JP2008188722A (ja) * 2007-02-06 2008-08-21 Fanuc Ltd ロボット制御装置
JP2009066685A (ja) * 2007-09-11 2009-04-02 Sony Corp ロボット装置及びロボット装置の制御方法
US8644964B2 (en) * 2012-05-03 2014-02-04 Deere & Company Method and system for controlling movement of an end effector on a machine
DE102014119654A1 (de) * 2014-12-29 2016-06-30 Brötje-Automation GmbH Verfahren zur Kompensation einer Abweichung eines Arbeitspunkts
DE102015214170A1 (de) 2015-07-27 2017-02-02 Kuka Roboter Gmbh Roboter mit einer Kraftmesseinrichtung
ES2899585T3 (es) 2016-07-15 2022-03-14 Fastbrick Ip Pty Ltd Pluma para transporte de material
JP7061119B2 (ja) 2016-07-15 2022-04-27 ファストブリック・アイピー・プロプライエタリー・リミテッド 車両に組み込まれた煉瓦／ブロック敷設機
CN111095355B (zh) 2017-07-05 2023-10-20 快砖知识产权私人有限公司 实时定位和定向跟踪器
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
AU2018317941B2 (en) 2017-08-17 2023-11-09 Fastbrick Ip Pty Ltd Laser tracker with improved roll angle measurement
CN111212799B (zh) 2017-10-11 2023-04-14 快砖知识产权私人有限公司 用于传送物体的机器以及与其一起使用的多隔间转盘
WO2020014737A1 (en) 2018-07-16 2020-01-23 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
US12311546B2 (en) 2018-07-16 2025-05-27 Fastbrick Ip Pty Ltd Active damping system
CN110497409A (zh) * 2019-08-14 2019-11-26 深圳市烨嘉为技术有限公司 用于驱控一体化控制系统的无传感化主动柔顺控制模块
CN115443363A (zh) 2020-04-22 2022-12-06 快砖知识产权私人有限公司 块传送装置及用于与其一起使用的改进的夹紧组件
AU2021304545B2 (en) 2020-07-08 2025-12-04 Fastbrick Ip Pty Ltd Adhesive application system
DE102021214721B3 (de) 2021-12-20 2023-05-04 Kuka Deutschland Gmbh Verfahren und System zum Betreiben eines Roboters
DE102022000885A1 (de) 2022-03-14 2023-09-14 Torsten Pöhler Manipulator sowie Fahrzeug mit zumindest einem solchen Manipulator

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
JP2713899B2 (ja) * 1987-03-30 1998-02-16 株式会社日立製作所 ロボツト装置
EP0331265B1 (de) * 1988-03-01 1995-08-23 Hitachi Construction Machinery Co., Ltd. Positions-/Kraft-Steuerungsgerät für Werkzeugmaschinen mit mehreren Freiheitsgraden
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
US5047916A (en) * 1988-03-25 1991-09-10 Kabushiki Kaisha Toshiba Method and apparatus of free space enumeration for collision avoidance
US4974210A (en) * 1989-05-01 1990-11-27 General Electric Company Multiple arm robot with force control and inter-arm position accommodation
FR2653761B1 (fr) * 1989-10-27 1992-01-10 Potain Sa Robot manipulateur de grande dimension et de forte capacite pour utilisation en milieu ouvert.

Also Published As

Publication number Publication date
US5469531A (en) 1995-11-21
DE69402444T2 (de) 1997-11-13
FI940245A0 (fi) 1994-01-18
ATE151328T1 (de) 1997-04-15
FR2700532A1 (fr) 1994-07-22
FR2700532B1 (fr) 1995-03-03
NO940178D0 (no) 1994-01-18
DE69402444D1 (de) 1997-05-15
FI940245A7 (fi) 1994-07-20
EP0608187B1 (de) 1997-04-09
JPH06278068A (ja) 1994-10-04
EP0608187A1 (de) 1994-07-27

Similar Documents

Publication Publication Date Title
NO940178L (no) Fremgangsmåte for styring av en robot m.h.t. posisjon/kraft
Jinjun et al. Symmetrical adaptive variable admittance control for position/force tracking of dual-arm cooperative manipulators with unknown trajectory deviations
Al-Jarrah et al. Arm-manipulator coordination for load sharing using variable compliance control
Furuta et al. Master-slave manipulator based on virtual internal model following control concept
KR970701875A (ko) 작업기계의 제어장치(machine controller)
Chen et al. Ball-on-plate motion planning for six-parallel-legged robots walking on irregular terrains using pure haptic information
Lim et al. On a control scheme for two cooperating robot arms
Shu et al. A novel dual-arm adaptive cooperative control framework for carrying variable loads and active anti-overturning
Ramadorai et al. Task definition, decoupling and redundancy resolution by nonlinear feedback in multi-robot object handling
Gourdeau et al. Optimal control of a robot manipulator using a weighted time-energy cost function
Kosuge et al. Unified control for dynamic cooperative manipulation
Pierro et al. Modelling and control of the humanoid robot RH-1 for collaborative tasks
Li et al. Real-time flow optimization of hydraulic manipulator with one degree of redundancy considering joint limit constraint
Siciliano et al. A Lyapunov-stable adaptive scheme for force regulation and motion control of robot manipulators
Hee-Jin et al. A Study on Track Record and Trajectory Control of Articulated Robot Based on Monitoring Simulator for Smart Factory
JPH05313746A (ja) マニピュレータの制御装置
EP0353841A3 (en) Human-in-the-loop machine control loop
JPS63118804A (ja) 多関節形ロボツトの軌跡制御方式
Richard et al. Dynamic programming for the control of robots.
Vukobratović et al. One Engineer's Control Concept of Industrial Manipulators and First Results of its Concrete Application
Nemec et al. Implementation of force control on redundant robot
SE9802731D0 (sv) Bumpless robot arm
Superczyńska et al. SDRE-Based Suboptimal Controller for Manipulator Control
Bergerman et al. Robust control of cooperative underactuated manipulators
Nebot Modelling and control of a single link flexible manipulator.