SE452569B - Sett och anordning for styrning av en manipulator - Google Patents

Sett och anordning for styrning av en manipulator

Info

Publication number
SE452569B
SE452569B SE8106292A SE8106292A SE452569B SE 452569 B SE452569 B SE 452569B SE 8106292 A SE8106292 A SE 8106292A SE 8106292 A SE8106292 A SE 8106292A SE 452569 B SE452569 B SE 452569B
Authority
SE
Sweden
Prior art keywords
arm
control
shaft
control device
signal
Prior art date
Application number
SE8106292A
Other languages
English (en)
Swedish (sv)
Other versions
SE8106292L (sv
Inventor
B W Pollard
W Perzley
S J Blanchard
Original Assignee
Unimation Inc
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 Unimation Inc filed Critical Unimation Inc
Publication of SE8106292L publication Critical patent/SE8106292L/xx
Publication of SE452569B publication Critical patent/SE452569B/sv

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
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • 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
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • 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
    • G05B2219/33—Director till display
    • G05B2219/33337—For each axis a processor, microprocessor
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39178—Compensation inertia arms
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41309—Hydraulic or pneumatic drive
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42171—Velocity profile, variable gain, multiplication factors, rom ram
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Computer Hardware Design (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
SE8106292A 1980-10-27 1981-10-26 Sett och anordning for styrning av en manipulator SE452569B (sv)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/201,181 US4362978A (en) 1980-10-27 1980-10-27 Control system for manipulator apparatus

Publications (2)

Publication Number Publication Date
SE8106292L SE8106292L (sv) 1982-04-28
SE452569B true SE452569B (sv) 1987-12-07

Family

ID=22744808

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8106292A SE452569B (sv) 1980-10-27 1981-10-26 Sett och anordning for styrning av en manipulator

Country Status (8)

Country Link
US (1) US4362978A (it)
JP (1) JPS57114386A (it)
CA (1) CA1167948A (it)
DE (1) DE3142406C2 (it)
FR (1) FR2494462B1 (it)
GB (1) GB2086085B (it)
IT (1) IT1171609B (it)
SE (1) SE452569B (it)

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FR2516843B1 (fr) * 1981-11-24 1985-10-25 Calhene Dispositif d'actionnement et son application a un asservissement de position pour un telemanipulateur maitre-esclave
US4488241A (en) * 1981-12-08 1984-12-11 Zymark Corporation Robot system with interchangeable hands
JPS58177289A (ja) * 1982-04-12 1983-10-17 株式会社三協精機製作所 工業用ロボツトの動作制御装置
US4581893A (en) * 1982-04-19 1986-04-15 Unimation, Inc. Manipulator apparatus with energy efficient control
US4543517A (en) * 1982-08-30 1985-09-24 Kubik, Incorporated Electronic position and velocity control system with cold start compensation
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US4510428A (en) * 1983-03-25 1985-04-09 Unimation, Inc. Control system for manipulator apparatus with initializing stabilization and inertia scaling
JPS59197901A (ja) * 1983-04-25 1984-11-09 Canon Inc 運動制御装置
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
DE3336854C2 (de) * 1983-10-11 1986-01-16 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut Tasteinrichtung zur Ermittlung von Lage und/oder Abmessungen eines Prüfobjekts
DE3340946A1 (de) * 1983-11-11 1985-05-23 Siemens AG, 1000 Berlin und 8000 München Handhabungseinrichtung, insbesondere industrieroboter, mit mindestens einem sensor
JPS60171464A (ja) * 1984-02-17 1985-09-04 Yaskawa Electric Mfg Co Ltd モータまたはモータで駆動される移動体の速度検出方式
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USRE32854E (en) * 1984-06-04 1989-02-07 Eoa Systems, Inc. Adapter with modular components for a robot end-of-arm interchangeable tooling system
US4676142A (en) * 1984-06-04 1987-06-30 Eoa Systems, Inc. Adapter with modular components for a robot end-of-arm interchangeable tooling system
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
US4598380A (en) * 1984-08-13 1986-07-01 Cincinnati Milacron Inc. Method and apparatus for controlling manipulator and workpiece positioner
US4710884A (en) * 1984-12-19 1987-12-01 Hitachi Construction Machinery Co., Ltd. Device for compensating for deflection in a pliable positioning apparatus
US5187656A (en) * 1984-12-25 1993-02-16 Fanuc Ltd. Servomotor drive control system
JPS61150686A (ja) * 1984-12-25 1986-07-09 Fanuc Ltd サ−ボモ−タ制御方式
JPH0631527B2 (ja) * 1985-04-30 1994-04-27 マツダ株式会社 さく岩機のブ−ム位置決め装置
US4683772A (en) * 1985-07-25 1987-08-04 Westinghouse Electric Corp. Hand gear train with three degrees of freedom
US5136227A (en) * 1985-09-10 1992-08-04 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Active gravity compensation device for force control system
US4891764A (en) * 1985-12-06 1990-01-02 Tensor Development Inc. Program controlled force measurement and control system
US5103404A (en) * 1985-12-06 1992-04-07 Tensor Development, Inc. Feedback for a manipulator
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
FR2600120B1 (fr) * 1986-06-12 1990-06-29 Bertin & Cie Procede et dispositif d'asservissement en position d'un verin pneumatique
JPS6327904A (ja) * 1986-07-22 1988-02-05 Hitachi Ltd サ−ボ機構装置の位置修正制御方式
EP0262600B1 (en) * 1986-09-29 1992-11-25 Asea Ab Method and device for optimum parameter control of controllers for rotational and/or linear movements in one or more degrees of freedom in an industrial robot
EP0268491A3 (en) * 1986-11-20 1988-08-03 Unimation Inc. Multiaxis robot having improved motion control
US4773025A (en) * 1986-11-20 1988-09-20 Unimation, Inc. Multiaxis robot control having curve fitted path control
EP0268490A3 (en) * 1986-11-20 1988-08-24 Unimation Inc. Digital robot control having improved arm joint motor control and feedback torque current sensing systems
EP0269372A3 (en) * 1986-11-20 1988-08-17 Unimation Inc. Robot with micro processor-based digital robot control
US4807153A (en) * 1986-11-20 1989-02-21 Unimation Inc. Multiaxis digital robot control having a backup velocity monitor and protection system
US4786847A (en) * 1986-11-20 1988-11-22 Unimation Inc. Digital control for multiaxis robots
EP0269374A3 (en) * 1986-11-20 1988-08-24 Unimation Inc. Modular robot control system
US4812725A (en) * 1987-10-16 1989-03-14 Anwar Chitayat Positioning device with dual linear motor
JPH01177980A (ja) * 1988-01-09 1989-07-14 Fanuc Ltd 設置姿勢に応じた動作条件自動設定機能を備えた産業用ロボット
US4908777A (en) * 1988-01-27 1990-03-13 Storage Technology Corporation Robot arm calibration system
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
US5047700A (en) * 1988-03-23 1991-09-10 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Universal computer control system for motors
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
JP2930302B2 (ja) * 1988-04-06 1999-08-03 ソニー株式会社 制御データ発生装置
JP2676793B2 (ja) * 1988-06-30 1997-11-17 トヨタ自動車株式会社 倣い制御ロボット
DE69029566T2 (de) * 1989-11-30 1997-04-24 Hewlett Packard Co Fehlerkorrektur in einem Kassettenbehandlungssystem
US5546508A (en) * 1992-04-03 1996-08-13 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Controlling flexible robot arms using high speed dynamics process
CA2081519C (en) * 1992-10-27 2000-09-05 The University Of Toronto Parametric control device
EP0640902A3 (en) * 1993-08-26 1996-11-06 Faro Technologies Method for programming computer-controlled multi-axis devices.
US5394323A (en) * 1994-03-29 1995-02-28 The University Of British Columbia Path error control system
GB2312390A (en) * 1996-04-23 1997-10-29 Clf International Limited Techniques and apparatus for cutting a workpiece
DE69814198T2 (de) * 1997-02-10 2004-04-08 Mitutoyo Corp., Kawasaki Messverfahren und Messinstrument mit Triggersonde
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
US6450755B1 (en) * 1998-07-10 2002-09-17 Equipe Technologies Dual arm substrate handling robot with a batch loader
US6442534B1 (en) * 1999-02-23 2002-08-27 Rockwell Automation Technologies, Inc. Hydraulic controller using multiple regime specific controllers combined with fuzzy logic
US20110295247A1 (en) * 2010-05-28 2011-12-01 Hansen Medical, Inc. System and method for automated minimally invasive therapy using radiometry

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US3661051A (en) * 1969-03-18 1972-05-09 Unimation Inc Programmed manipulator apparatus
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US4156835A (en) * 1974-05-29 1979-05-29 Massachusetts Institute Of Technology Servo-controlled mobility device
JPS51114578A (en) * 1975-03-31 1976-10-08 Shin Meiwa Ind Co Ltd Method and device for automatic position control
JPS52104676A (en) * 1976-02-26 1977-09-02 Shin Meiwa Ind Co Ltd Method and apparatus for position control
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US4132937A (en) * 1976-10-18 1979-01-02 Unimation, Inc. Programmable manipulator with dynamic feedback apparatus for stabilization
JPS5362288A (en) * 1976-11-16 1978-06-03 Mitsubishi Electric Corp Speed control system for movable body
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US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming

Also Published As

Publication number Publication date
CA1167948A (en) 1984-05-22
GB2086085B (en) 1984-08-08
FR2494462B1 (fr) 1985-09-13
DE3142406C2 (de) 1986-01-02
IT1171609B (it) 1987-06-10
JPS57114386A (en) 1982-07-16
DE3142406A1 (de) 1982-07-29
GB2086085A (en) 1982-05-06
SE8106292L (sv) 1982-04-28
FR2494462A1 (fr) 1982-05-21
IT8149572A0 (it) 1981-10-26
US4362978A (en) 1982-12-07

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