DE69306003T2 - Steuerungssystem das einer Roboterhand Lage und Orientierung beibringt - Google Patents

Steuerungssystem das einer Roboterhand Lage und Orientierung beibringt

Info

Publication number
DE69306003T2
DE69306003T2 DE69306003T DE69306003T DE69306003T2 DE 69306003 T2 DE69306003 T2 DE 69306003T2 DE 69306003 T DE69306003 T DE 69306003T DE 69306003 T DE69306003 T DE 69306003T DE 69306003 T2 DE69306003 T2 DE 69306003T2
Authority
DE
Germany
Prior art keywords
orientation
control system
robot hand
teaches
teaches position
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.)
Expired - Fee Related
Application number
DE69306003T
Other languages
English (en)
Other versions
DE69306003D1 (de
Inventor
Motonobu C O Mitsubishi Sasaki
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of DE69306003D1 publication Critical patent/DE69306003D1/de
Application granted granted Critical
Publication of DE69306003T2 publication Critical patent/DE69306003T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S700/00—Data processing: generic control systems or specific applications
    • Y10S700/90—Special robot structural element
DE69306003T 1992-01-14 1993-01-13 Steuerungssystem das einer Roboterhand Lage und Orientierung beibringt Expired - Fee Related DE69306003T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4004773A JPH05185387A (ja) 1992-01-14 1992-01-14 ロボットの制御装置

Publications (2)

Publication Number Publication Date
DE69306003D1 DE69306003D1 (de) 1997-01-02
DE69306003T2 true DE69306003T2 (de) 1997-04-17

Family

ID=11593163

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69306003T Expired - Fee Related DE69306003T2 (de) 1992-01-14 1993-01-13 Steuerungssystem das einer Roboterhand Lage und Orientierung beibringt

Country Status (4)

Country Link
US (2) US5481652A (de)
EP (1) EP0553644B1 (de)
JP (1) JPH05185387A (de)
DE (1) DE69306003T2 (de)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3215086B2 (ja) * 1998-07-09 2001-10-02 ファナック株式会社 ロボット制御装置
US7146242B2 (en) * 2003-09-30 2006-12-05 Rockwell Automation Technologies, Inc. Method and system for generating multi-dimensional motion profiles
US7180253B2 (en) 2003-09-30 2007-02-20 Rockwell Automation Technologies, Inc. Method and system for generating multi-dimensional motion profiles
JP5062424B2 (ja) * 2008-02-25 2012-10-31 澁谷工業株式会社 ロボット制御システム
US9478147B2 (en) 2012-05-17 2016-10-25 The University Of Connecticut Methods and apparatus for interpersonal coordination analysis and training
CN102681465A (zh) * 2012-05-23 2012-09-19 浙江大学 具备运动规划功能的工业机器人示教规划器及其控制方法
US10518407B2 (en) 2015-01-06 2019-12-31 Discovery Robotics Apparatus and methods for providing a reconfigurable robotic platform
US10328573B2 (en) * 2015-01-06 2019-06-25 Discovery Robotics Robotic platform with teach-repeat mode
JP2018167334A (ja) * 2017-03-29 2018-11-01 セイコーエプソン株式会社 教示装置および教示方法
CN113954065B (zh) * 2021-09-28 2023-05-12 哈尔滨工业大学 一种基于惯导定位技术的机器人离线示教平台及其离线示教方法

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4305130A (en) * 1979-05-29 1981-12-08 University Of Rhode Island Apparatus and method to enable a robot with vision to acquire, orient and transport workpieces
US4402053A (en) * 1980-09-25 1983-08-30 Board Of Regents For Education For The State Of Rhode Island Estimating workpiece pose using the feature points method
US4402052A (en) * 1981-04-10 1983-08-30 Baker International Corporation Apparatus for making threaded joints incorporating a make-up speed controller
US4433382A (en) * 1981-07-20 1984-02-21 Cincinnati Milacron Inc. Apparatus for automatically adjusting the programmed location of a robot arm
JPS59106007A (ja) * 1982-12-10 1984-06-19 Toyota Central Res & Dev Lab Inc 多関節型ロボツトの軌跡制御装置
GB2146796B (en) * 1983-08-31 1986-12-17 Mitsubishi Electric Corp Method for controlling an industrial robot to perform weaving-like motion and apparatus for practising the same
JPS6132113A (ja) * 1984-07-23 1986-02-14 Seiko Instr & Electronics Ltd ロボツト制御方式
JPS62199383A (ja) * 1986-02-26 1987-09-03 富士通株式会社 ロボツトの制御方式
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
JPH0820894B2 (ja) * 1987-07-01 1996-03-04 株式会社日立製作所 産業用ロボツトの動作制御方法
US5129044A (en) * 1988-03-01 1992-07-07 Hitachi Construction Machinery Co., Ltd. Position/force controlling apparatus for working machine with multiple of degrees of freedom
JPH0299406A (ja) * 1988-10-06 1990-04-11 Yokohama Rubber Co Ltd:The 空気入りラジアルタイヤ
GB2232504B (en) * 1989-05-23 1993-09-29 Honda Motor Co Ltd Method of teaching a robot
JP2694669B2 (ja) * 1989-06-09 1997-12-24 株式会社日立製作所 ロボットの動作制御方法
JP2521830B2 (ja) * 1990-02-14 1996-08-07 川崎重工業株式会社 産業用ロボットの制御方法および装置
EP0444657B1 (de) * 1990-02-27 1996-02-07 Kabushiki Kaisha Toshiba Robotersteuerung
JP3064348B2 (ja) * 1990-08-02 2000-07-12 豊田工機株式会社 ロボット制御装置

Also Published As

Publication number Publication date
DE69306003D1 (de) 1997-01-02
EP0553644A1 (de) 1993-08-04
US5506939A (en) 1996-04-09
JPH05185387A (ja) 1993-07-27
US5481652A (en) 1996-01-02
EP0553644B1 (de) 1996-11-20

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee