SE9600527L - Förfarande för styrning av en industrirobot med hänsyn till moment och belastning - Google Patents

Förfarande för styrning av en industrirobot med hänsyn till moment och belastning

Info

Publication number
SE9600527L
SE9600527L SE9600527A SE9600527A SE9600527L SE 9600527 L SE9600527 L SE 9600527L SE 9600527 A SE9600527 A SE 9600527A SE 9600527 A SE9600527 A SE 9600527A SE 9600527 L SE9600527 L SE 9600527L
Authority
SE
Sweden
Prior art keywords
tgr
calculated
overscore
load
torque
Prior art date
Application number
SE9600527A
Other languages
English (en)
Other versions
SE505981C2 (sv
SE9600527D0 (sv
Inventor
Staffan Elfving
John-Erik Snell
Original Assignee
Asea Brown Boveri
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 Asea Brown Boveri filed Critical Asea Brown Boveri
Priority to SE9600527A priority Critical patent/SE505981C2/sv
Publication of SE9600527D0 publication Critical patent/SE9600527D0/sv
Priority to EP97903686A priority patent/EP0879119B1/en
Priority to PCT/SE1997/000059 priority patent/WO1997029890A1/en
Priority to DE69714017T priority patent/DE69714017T2/de
Priority to ES97903686T priority patent/ES2180928T3/es
Priority to US09/101,532 priority patent/US6226565B1/en
Priority to JP9529251A priority patent/JP2000504636A/ja
Publication of SE9600527L publication Critical patent/SE9600527L/sv
Publication of SE505981C2 publication Critical patent/SE505981C2/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
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B2219/39243—Adaptive trajectory tracking
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40453—Maximum torque for each axis

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
SE9600527A 1996-02-14 1996-02-14 Förfarande för styrning av en industrirobot med hänsyn till moment och belastning SE505981C2 (sv)

Priority Applications (7)

Application Number Priority Date Filing Date Title
SE9600527A SE505981C2 (sv) 1996-02-14 1996-02-14 Förfarande för styrning av en industrirobot med hänsyn till moment och belastning
EP97903686A EP0879119B1 (en) 1996-02-14 1997-01-15 A method for control of an industrial robot along a given track
PCT/SE1997/000059 WO1997029890A1 (en) 1996-02-14 1997-01-15 A method for control of an industrial robot along a given track
DE69714017T DE69714017T2 (de) 1996-02-14 1997-01-15 Verfahren zur steuerung eines industriellen roboters entlang einer vorgegebenen bahn
ES97903686T ES2180928T3 (es) 1996-02-14 1997-01-15 Procedimiento de control de un robot industrial que se desplaza segun una trayectoria dada.
US09/101,532 US6226565B1 (en) 1996-02-14 1997-01-15 Method for control of an industrial robot along a given track
JP9529251A JP2000504636A (ja) 1996-02-14 1997-01-15 所定の軌道に沿っての産業用ロボットの制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9600527A SE505981C2 (sv) 1996-02-14 1996-02-14 Förfarande för styrning av en industrirobot med hänsyn till moment och belastning

Publications (3)

Publication Number Publication Date
SE9600527D0 SE9600527D0 (sv) 1996-02-14
SE9600527L true SE9600527L (sv) 1997-08-15
SE505981C2 SE505981C2 (sv) 1997-10-27

Family

ID=20401375

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9600527A SE505981C2 (sv) 1996-02-14 1996-02-14 Förfarande för styrning av en industrirobot med hänsyn till moment och belastning

Country Status (7)

Country Link
US (1) US6226565B1 (sv)
EP (1) EP0879119B1 (sv)
JP (1) JP2000504636A (sv)
DE (1) DE69714017T2 (sv)
ES (1) ES2180928T3 (sv)
SE (1) SE505981C2 (sv)
WO (1) WO1997029890A1 (sv)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11277468A (ja) * 1998-03-30 1999-10-12 Denso Corp ロボットの制御装置
FR2813964B1 (fr) * 2000-09-12 2004-10-01 Micro Controle Procede et dispositif pour deplacer un mobile sur une base
SE0100974D0 (sv) * 2001-03-20 2001-03-20 Abb Ab Termisk optimeringsmetod
DE10125445A1 (de) * 2001-05-25 2002-12-05 Kuka Roboter Gmbh Verfahren zum Steuern der Bewegung eines Roboters
DE10223670A1 (de) 2002-05-28 2003-12-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bewegen eines Handhabungssystems
USD479254S1 (en) 2002-06-26 2003-09-02 Abb Ab Control cabinet
US6768642B2 (en) * 2002-12-16 2004-07-27 Lockheed Martin Corporation VME circuit host card with triple mezzanine configuration
JP3805317B2 (ja) * 2003-03-17 2006-08-02 ファナック株式会社 教示位置修正方法及び教示位置修正装置
DE10321970A1 (de) * 2003-05-15 2004-12-09 Siemens Ag Verfahren zur Bewegungsführung eines bewegbaren Maschinenelementes einer numerisch gesteuerten Werkzeug-oder Produktionsmaschine
JP3946753B2 (ja) * 2005-07-25 2007-07-18 ファナック株式会社 ロボットプログラム評価・修正方法及びロボットプログラム評価・修正装置
KR101220121B1 (ko) * 2006-06-30 2013-01-11 스타 마이크로닉스 컴퍼니 리미티드 이동체의 이동 제어 장치, 이동체의 이동 제어 방법 및공작 기계의 이동 제어 장치
JP5002814B2 (ja) * 2007-03-05 2012-08-15 国立大学法人長岡技術科学大学 アクチュエータ制御装置およびアクチュエータ制御方法
JP5235376B2 (ja) * 2007-10-05 2013-07-10 川崎重工業株式会社 ロボットのターゲット位置検出装置
JP5028219B2 (ja) * 2007-10-30 2012-09-19 オリンパスメディカルシステムズ株式会社 マニピュレータ装置および医療機器システム
DE102009007026A1 (de) * 2009-02-02 2010-08-05 Kuka Roboter Gmbh Steuerung und Steuerungsverfahren für einen Manipulator
DE102011111758A1 (de) * 2011-08-24 2013-02-28 Dürr Systems GmbH Steuerverfahren für einen Roboter
DE102012202181A1 (de) 2012-02-14 2013-08-29 Kuka Roboter Gmbh Verfahren zum Ermitteln eines Drehmoments und Industrieroboter
JP6621059B2 (ja) * 2017-11-28 2019-12-18 株式会社安川電機 機械設備制御システム、機械設備制御装置、及び機械設備制御方法
US11453122B2 (en) 2018-03-28 2022-09-27 Bae Systems Plc Collaborative robot system
JPWO2021187378A1 (sv) * 2020-03-18 2021-09-23
AT526541B1 (de) 2022-09-30 2024-09-15 Wittmann Tech Gmbh Verfahren und Vorrichtung zur Steuerung eines mehrachsigen Entnahmeroboters

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US4864206A (en) * 1986-11-20 1989-09-05 Westinghouse Electric Corp. Multiaxis robot control having improved energy monitoring system for protecting robots against joint motor overload
US4773025A (en) * 1986-11-20 1988-09-20 Unimation, Inc. Multiaxis robot control having curve fitted path 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
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
JPH0430203A (ja) * 1990-05-25 1992-02-03 Fanuc Ltd ロボットの加減速時定数制御方法
SE501263C2 (sv) * 1991-12-10 1994-12-19 Asea Brown Boveri Förfarande för kalibrering av rörelseaxlar hos en industrirobot
US5708342A (en) * 1993-05-27 1998-01-13 Fanuc Ltd. Method of controlling acceleration/deceleration time constants for robot
SE9400579L (sv) * 1994-02-21 1995-08-22 Asea Brown Boveri Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
JPH08137524A (ja) * 1994-11-09 1996-05-31 Fanuc Ltd ロボットの軌道計画時における時定数の設定方法

Also Published As

Publication number Publication date
SE505981C2 (sv) 1997-10-27
EP0879119B1 (en) 2002-07-17
ES2180928T3 (es) 2003-02-16
US6226565B1 (en) 2001-05-01
EP0879119A1 (en) 1998-11-25
DE69714017D1 (de) 2002-08-22
SE9600527D0 (sv) 1996-02-14
DE69714017T2 (de) 2003-03-06
WO1997029890A1 (en) 1997-08-21
JP2000504636A (ja) 2000-04-18

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