DE69313590D1 - Verfahren zum Steuern des Betriebs eines Roboterarms - Google Patents

Verfahren zum Steuern des Betriebs eines Roboterarms

Info

Publication number: DE69313590D1
Authority: DE; Germany
Prior art keywords: controlling; robotic arm; robotic; arm
Prior art date: 1992-06-29
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 - Lifetime

Application number

DE69313590T

Other languages

English (en)

Other versions

DE69313590T2 (de

Inventor

Yasushi - - Mukai

Makoto - - Takahashi

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.)

Panasonic Corp

Original Assignee

Matsushita Electric Industrial Co Ltd

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.)

1992-06-29

Filing date

1993-06-28

Publication date

1997-10-09

1993-06-28 Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd

1997-10-09 Publication of DE69313590D1 publication Critical patent/DE69313590D1/de

1998-04-02 Application granted granted Critical

1998-04-02 Publication of DE69313590T2 publication Critical patent/DE69313590T2/de

2013-06-29 Anticipated expiration legal-status Critical

Status Expired - Lifetime legal-status Critical Current

Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- 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
- 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
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36441—Follow contour, line with sensor and record points
- 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
- G05B2219/37425—Distance, range
- 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
- G05B2219/45104—Lasrobot, welding robot

Landscapes

Engineering & Computer Science (AREA)
Physics & Mathematics (AREA)
Plasma & Fusion (AREA)
Mechanical Engineering (AREA)
General Physics & Mathematics (AREA)
Automation & Control Theory (AREA)
Robotics (AREA)
Manipulator (AREA)
Numerical Control (AREA)

DE69313590T 1992-06-29 1993-06-28 Verfahren zum Steuern des Betriebs eines Roboterarms Expired - Lifetime DE69313590T2 (de)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
JP17040292		1992-06-29
PCT/JP1993/000875 WO1994000269A1 (en)	1992-06-29	1993-06-28	Robot for welding

Publications (2)

Publication Number	Publication Date
DE69313590D1 true DE69313590D1 (de)	1997-10-09
DE69313590T2 DE69313590T2 (de)	1998-04-02

Family

ID=15904266

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
DE69313590T Expired - Lifetime DE69313590T2 (de)	1992-06-29	1993-06-28	Verfahren zum Steuern des Betriebs eines Roboterarms

Country Status (4)

Country	Link
US (1)	US5495090A (de)
EP (1)	EP0601206B1 (de)
DE (1)	DE69313590T2 (de)
WO (1)	WO1994000269A1 (de)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
JP3394322B2 (ja)	1994-05-19	2003-04-07	ファナック株式会社	視覚センサを用いた座標系設定方法
JPH08166813A (ja) *	1994-12-14	1996-06-25	Fanuc Ltd	ウィービング動作を伴うロボットのトラッキング制御方法
US5729345A (en) *	1996-09-11	1998-03-17	Caterpillar Inc.	Apparatus and method for determining distortion of a welded member
JPH1177569A (ja)	1997-09-10	1999-03-23	Honda Motor Co Ltd	オフラインティーチング装置
US6243621B1 (en) *	1998-03-13	2001-06-05	Fanuc Robotics North America, Inc.	Method of determining workpiece positions including coordinated motion
US6166506A (en) *	1998-06-19	2000-12-26	Tregaskiss, Ltd.	Wireless safety clutch
US6168066B1 (en) *	1999-04-21	2001-01-02	Lockheed Martin Corp.	Friction stir conduction controller
KR100621100B1 (ko) *	2000-02-11	2006-09-07	삼성전자주식회사	용접로봇 교시위치 보정방법 및 용접로봇시스템
JP4222828B2 (ja) *	2000-08-25	2009-02-12	蛇の目ミシン工業株式会社	ロボット
SE0302092L (sv) *	2003-07-11	2005-01-12	Abb Ab	Robotsystem
JP2005196242A (ja) *	2003-12-26	2005-07-21	Fanuc Ltd	倣い加工装置
JP4439940B2 (ja) *	2004-02-19	2010-03-24	タカタ株式会社	エアバッグカバーの製造方法
JP4291382B2 (ja) *	2007-07-31	2009-07-08	ファナック株式会社	接触検知による取り付け誤差の自動補正機能を有する工作機械
US9168613B2 (en)	2010-10-22	2015-10-27	Paul T. Colby	Vertical laser cladding system
JP6773084B2 (ja) *	2018-07-02	2020-10-21	株式会社安川電機	動作教示装置、ロボットシステム及び動作教示方法
JP2020049642A (ja) *	2018-09-28	2020-04-02	セイコーエプソン株式会社	制御装置、ロボットシステム、及びロボット
WO2021177365A1 (ja)	2020-03-05	2021-09-10	パナソニックＩｐマネジメント株式会社	ビード外観検査装置、ビード外観検査方法、プログラムおよびビード外観検査システム
JP7414626B2 (ja) *	2020-04-14	2024-01-16	三菱電機株式会社	ワイヤ送給装置および付加製造装置
CN114472074B (zh) *	2022-01-17	2025-04-15	中国第一汽车股份有限公司	一种机器人涂胶距离自动补偿系统及方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US4215299A (en) *	1975-05-02	1980-07-29	Minnesota Mining And Manufacturing Company	Adaptive path following motion control system for welding head assembly
JPS5415441A (en) *	1977-04-30	1979-02-05	Shin Meiwa Ind Co Ltd	Automatic welding machine
CH622292A5 (de) *	1977-09-15	1981-03-31	Bbc Brown Boveri & Cie
DE2829851A1 (de) *	1978-07-07	1980-01-24	Precitec Gmbh	Anordnung zur messung des abstands zwischen einem metallischen werkstueck und einem bearbeitungswerkzeug
DE2851063A1 (de) *	1978-11-25	1980-06-04	Cloos Gmbh Carl	Vorrichtung zur automatischen fuehrung einer schweisspistole laengs einer vorprogrammierten schweissnaht
JPS5685106A (en) *	1979-12-14	1981-07-11	Hitachi Ltd	Robot teaching method
JPS5791877A (en) *	1980-11-28	1982-06-08	Nippon Kokan Kk <Nkk>	Rotary arc welding method
JPS5956982A (ja) *	1982-09-27	1984-04-02	Hitachi Zosen Corp	ワ−クセンサ
US4590577A (en) *	1982-12-01	1986-05-20	Yaskawa Electric Mfg. Co., Ltd.	Welding robot controlling method
JPS60136806A (ja) *	1983-12-26	1985-07-20	Agency Of Ind Science & Technol	ロボツト作業教示装置
JPS61249667A (ja) *	1985-04-26	1986-11-06	Nippon Kokan Kk <Nkk>	高速回転ア−ク隅肉自動溶接方法
KR900003972B1 (ko) *	1985-04-30	1990-06-07	닛뽕 고오깡 가부시기가이샤	고속회전 아아크 필릿(fillet)용접의 그루우브 트레이싱(GROOVE TRACING) 제어방법
JP2615055B2 (ja) *	1987-06-29	1997-05-28	三菱重工業株式会社	ハフ変換装置
DE3870178D1 (de) *	1987-11-27	1992-05-21	Schmall Karl Heinz	Verwendung eines dielektrischen mikrowellen-resonators und sensorschaltung.

1993
- 1993-06-28 WO PCT/JP1993/000875 patent/WO1994000269A1/ja active IP Right Grant
- 1993-06-28 US US08/199,169 patent/US5495090A/en not_active Expired - Lifetime
- 1993-06-28 DE DE69313590T patent/DE69313590T2/de not_active Expired - Lifetime
- 1993-06-28 EP EP93913590A patent/EP0601206B1/de not_active Expired - Lifetime

Also Published As

Publication number	Publication date
EP0601206A4 (de)	1994-11-17
WO1994000269A1 (en)	1994-01-06
EP0601206B1 (de)	1997-09-03
DE69313590T2 (de)	1998-04-02
EP0601206A1 (de)	1994-06-15
US5495090A (en)	1996-02-27

Publication	Publication Date	Title
DE69313590D1 (de)	1997-10-09	Verfahren zum Steuern des Betriebs eines Roboterarms
DE69315137D1 (de)	1997-12-18	Verfahren zum steuern von mehreren robotern
DE69601567D1 (de)	1999-04-01	Vorrichtung und verfahren zum steuern der bewegung eines roboters
DE3873411D1 (de)	1992-09-10	Verfahren und geraet zum steuern eines robotersystems.
DE59304764D1 (de)	1997-01-23	Verfahren zum steuern eines schrittmotors
DE69320788D1 (de)	1998-10-08	Verfahren zum steuern eines kreiselbrechers
DE69603433D1 (de)	1999-09-02	Verfahren zum Steuern des Gangs eines zweibeinigen Robotors und Vorrichtung für seine Fortbewegung
DE69125341D1 (de)	1997-04-30	Druckersteuereinheit und Verfahren zum Steuern eines Druckers
DE69316849D1 (de)	1998-03-12	Verfahren und Gerät zum Polieren eines Werkstückes
DE68929040D1 (de)	1999-09-09	Einrichtung und Verfahren zum Steuern eines Bohrlochwerkzeugs
DE3881131D1 (de)	1993-06-24	Verfahren zum steuern eines anzeigegeraetes.
DE59404516D1 (de)	1997-12-11	Vorrichtung und Verfahren zum Regeln einer Anfahrvorrichtung eines Fahrzeugantriebes
ATE208243T1 (de)	2001-11-15	Verfahren zum kontrollieren und positionieren eines strahls zum bearbeiten von werkstücken
DE69735269D1 (de)	2006-04-20	Steuerverfahren zum schrittbetrieb eines roboters
DE69417323D1 (de)	1999-04-29	Verfahren zur Optimierung der Bewegung eines Mehr-Achsen-Roboters
DE69332486D1 (de)	2002-12-19	Fahrschalter zum Steuern eines sich bewegenden Objektes, Verfahren zum Steuern diese Objektes und hierfür verwendeter Sensor
DE69129406D1 (de)	1998-06-18	Verfahren zum korrigieren der abbiegung eines roboters
DE69327141D1 (de)	2000-01-05	Vorrichtung zum Steuern des Antriebes eines Fensterhebers
DE69403255D1 (de)	1997-06-26	Verfahren und Vorrichtung zum Steuern eines Vortriebschilds
DE68919821D1 (de)	1995-01-19	Verfahren zur steuerung der werkzeuglage eines roboters.
DE69510031D1 (de)	1999-07-08	Verfahren zum bestimmen von bezugspositionen eines industrieroboters
DE69122185D1 (de)	1996-10-24	Verfahren und Vorrichtung zum Steuern eines Gelenkroboters mit Redundanz
DE69302217D1 (de)	1996-05-23	Verfahren zum Steuern eines Fahrzeuggetriebes
ATA104688A (de)	1989-11-15	Verfahren zum biegen eines werkstueckes
DE69216814D1 (de)	1997-02-27	Verfahren zum steuern eines roboters

Legal Events

Date	Code	Title	Description
1998-10-01	8364	No opposition during term of opposition
2009-05-07	8327	Change in the person/name/address of the patent owner	Owner name: PANASONIC CORP., KADOMA, OSAKA, JP
2010-03-25	8320	Willingness to grant licences declared (paragraph 23)