DE69013573D1 - Verteilersteuergerät. - Google Patents

Verteilersteuergerät.

Info

Publication number
DE69013573D1
DE69013573D1 DE69013573T DE69013573T DE69013573D1 DE 69013573 D1 DE69013573 D1 DE 69013573D1 DE 69013573 T DE69013573 T DE 69013573T DE 69013573 T DE69013573 T DE 69013573T DE 69013573 D1 DE69013573 D1 DE 69013573D1
Authority
DE
Germany
Prior art keywords
control unit
distribution control
distribution
unit
control
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
DE69013573T
Other languages
English (en)
Other versions
DE69013573T2 (de
Inventor
Katsuko Ozawa
Kazuhisa Gotoh
Tomohiro Murayama
Momoyo Tokuda
Satoshi Sumida
Tetsuo Suzuki
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.)
Toshiba Corp
Original Assignee
Toshiba 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
Priority claimed from JP13885689A external-priority patent/JPH033785A/ja
Priority claimed from JP13089890A external-priority patent/JPH0424803A/ja
Application filed by Toshiba Corp filed Critical Toshiba Corp
Publication of DE69013573D1 publication Critical patent/DE69013573D1/de
Application granted granted Critical
Publication of DE69013573T2 publication Critical patent/DE69013573T2/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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • G05B19/18—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 programme 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
    • G05B2219/33228—Detection of line failure, breakage of transmission, failure of receiver
    • 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
    • G05B2219/33332—Each processor can execute all programs
    • 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
    • G05B2219/33339—Controller with lowest operation rate is selected as master
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34449—Fault tolerant control, task from one microprocessor can be done by other
    • 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
    • G05B2219/37261—Encoder and potentiometer to detect fault 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
    • G05B2219/37—Measurements
    • G05B2219/37622—Detect collision, blocking, stall by change, lag in position
    • 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
    • G05B2219/40232—Lock mechanical arm if servo, cpu error, other arms remain free
DE69013573T 1989-05-31 1990-05-30 Verteilersteuergerät. Expired - Fee Related DE69013573T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP13885689A JPH033785A (ja) 1989-05-31 1989-05-31 ロボットコントローラ
JP13089890A JPH0424803A (ja) 1990-05-21 1990-05-21 並列分散制御装置

Publications (2)

Publication Number Publication Date
DE69013573D1 true DE69013573D1 (de) 1994-12-01
DE69013573T2 DE69013573T2 (de) 1995-03-16

Family

ID=26465892

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69013573T Expired - Fee Related DE69013573T2 (de) 1989-05-31 1990-05-30 Verteilersteuergerät.

Country Status (3)

Country Link
US (1) US5055755A (de)
EP (1) EP0400624B1 (de)
DE (1) DE69013573T2 (de)

Families Citing this family (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5282418A (en) * 1991-03-13 1994-02-01 Tokyo Kikai Seisakusho, Ltd. Roller changer
DE4202922A1 (de) * 1992-02-01 1993-08-05 Zeiss Carl Fa Motorisches stativ
JP2769947B2 (ja) * 1992-05-15 1998-06-25 株式会社椿本チエイン マニピュレータの位置・姿勢制御方法
JP2599571B2 (ja) * 1994-05-11 1997-04-09 ダイトロンテクノロジー株式会社 基板搬送ロボット
US5963712A (en) * 1996-07-08 1999-10-05 Sony Corporation Selectively configurable robot apparatus
US5757419A (en) * 1996-12-02 1998-05-26 Qureshi; Iqbal Inspection method and apparatus for tanks and the like
DE19718284C2 (de) * 1997-05-01 2001-09-27 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Überwachen einer Anlage mit mehreren Funktionseinheiten
US6751526B2 (en) * 1997-08-22 2004-06-15 Sony Corporation Method for describing robot structure and part of robot
JP2000042971A (ja) * 1998-07-29 2000-02-15 Janome Sewing Mach Co Ltd 水平多関節ロボット
US6718533B1 (en) * 1999-02-26 2004-04-06 Real-Time Innovations, Inc. Method for building a real-time control system with mode and logical rate
US6341246B1 (en) * 1999-03-26 2002-01-22 Kuka Development Laboratories, Inc. Object oriented motion system
US7882253B2 (en) 2001-04-05 2011-02-01 Real-Time Innovations, Inc. Real-time publish-subscribe system
JP3643867B2 (ja) * 2001-07-23 2005-04-27 独立行政法人情報通信研究機構 マニピュレータの制御方法
WO2005053912A1 (en) * 2003-12-01 2005-06-16 Newsouth Innovations Pty Limited A method for controlling a system formed from interdependent units
JP4735795B2 (ja) * 2003-12-26 2011-07-27 独立行政法人 宇宙航空研究開発機構 冗長マニピュレータの制御方法
JP2006013448A (ja) * 2004-05-21 2006-01-12 Matsushita Electric Ind Co Ltd ラインバランス制御方法、ラインバランス制御装置、および部品実装機
JP4722558B2 (ja) * 2004-06-01 2011-07-13 株式会社小松製作所 ダイクッション装置
US7533128B1 (en) 2005-10-18 2009-05-12 Real-Time Innovations, Inc. Data distribution service and database management systems bridge
US8054752B2 (en) * 2005-12-22 2011-11-08 Intuitive Surgical Operations, Inc. Synchronous data communication
EP1837131A1 (de) * 2006-03-20 2007-09-26 Abb Research Ltd. Manipulator, zum Beispiel für einen Industrieroboter, und Antriebsvorrichtung für einen Manipulator
EP1844909A1 (de) * 2006-04-11 2007-10-17 Abb Ab Mehrfacheingabe- Steuerung eines Industrierobotersystems
US8671135B1 (en) 2006-04-24 2014-03-11 Real-Time Innovations, Inc. Flexible mechanism for implementing the middleware of a data distribution system over multiple transport networks
US7827559B1 (en) 2006-04-24 2010-11-02 Real-Time Innovations, Inc. Framework for executing multiple threads and sharing resources in a multithreaded computer programming environment
US7783853B1 (en) 2006-04-24 2010-08-24 Real-Time Innovations, Inc. Memory usage techniques in middleware of a real-time data distribution system
CN101089763B (zh) * 2006-06-15 2011-01-05 上海广茂达伙伴机器人有限公司 基于现场总线的微型伺服电机控制系统以及方法
CN101219284A (zh) * 2007-01-08 2008-07-16 鸿富锦精密工业（深圳）有限公司 仿生类装置
US7675257B2 (en) * 2007-03-09 2010-03-09 Regal Beloit Corporation Methods and systems for recording operating information of an electronically commutated motor
KR101305819B1 (ko) * 2012-01-04 2013-09-06 현대자동차주식회사 착용식 로봇의 사용자 조작 의도 토크 추출방법
CN102896631A (zh) * 2012-10-09 2013-01-30 温州大学 实时/在线方位调整装置和方法
JP6700669B2 (ja) * 2015-04-07 2020-05-27 キヤノン株式会社 制御方法、ロボット装置、プログラム、記録媒体、及び物品の製造方法
CN106041935A (zh) * 2016-07-27 2016-10-26 重庆峰创科技有限公司 一种工业机器人高可靠容错控制装置
GB201713277D0 (en) * 2017-08-18 2017-10-04 Rolls Royce Plc Hyper-redundant manipulators
CN108247620A (zh) * 2018-01-22 2018-07-06 东莞市精联精密技术有限公司 一种微米级工业测量质检机械手臂及其检测方法
CN109909646B (zh) * 2019-02-02 2021-01-01 宁波吉利汽车研究开发有限公司 机器人焊枪工作点的修正方法、装置及电子设备
US11433534B2 (en) * 2019-03-07 2022-09-06 Abb Schweiz Ag Robotic arm including edge computer and cabling arrangement facilitating flexible function advanced distal arm end tooling
EP4219092A1 (de) * 2022-01-28 2023-08-02 Kassow Robots ApS Optimierte sicherheitsarchitektur in einem roboter

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2377251A1 (fr) * 1977-01-12 1978-08-11 Line Sa Procede de commande d'interpolateurs dans les commandes numeriques
US4221997A (en) * 1978-12-18 1980-09-09 Western Electric Company, Incorporated Articulated robot arm and method of moving same
US4467436A (en) * 1981-10-26 1984-08-21 United States Robots, Inc. Robot arm controller with common bus memory
JPS5927307A (ja) * 1982-08-04 1984-02-13 Hitachi Ltd 経路制御方法及び装置
US4514814A (en) * 1982-09-07 1985-04-30 General Electric Company Multi-processor axis control
JPS59114609A (ja) * 1982-12-22 1984-07-02 Hitachi Ltd ロボットの制御装置
JPS59218513A (ja) * 1983-05-26 1984-12-08 Fanuc Ltd 工業用ロボツトの円弧制御法
US4547858A (en) * 1983-06-13 1985-10-15 Allied Corporation Dynamic control for manipulator
US4617502A (en) * 1983-06-30 1986-10-14 Hitachi, Ltd. Method and apparatus for controlling a robot hand along a predetermined path
JPS6085885A (ja) * 1983-10-17 1985-05-15 株式会社日立製作所 多関節機構の制御装置
JPS60193016A (ja) * 1984-03-14 1985-10-01 Toyota Motor Corp ロボツト装置
DE3501968A1 (de) * 1985-01-22 1986-07-24 Siemens AG, 1000 Berlin und 8000 München Steuerungseinrichtung fuer eine mehrachsige werkzeugmaschine
US4663726A (en) * 1985-04-15 1987-05-05 General Electric Co. Robot control utilizing cubic spline interpolation
JPS62232006A (ja) * 1986-04-02 1987-10-12 Yokogawa Electric Corp ロボツト・システム
JP2713899B2 (ja) * 1987-03-30 1998-02-16 株式会社日立製作所 ロボツト装置
JPS63289607A (ja) * 1987-05-21 1988-11-28 Toshiba Corp 知能ロボットのモジュ−ル間通信制御方式
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
JP2719345B2 (ja) * 1988-03-30 1998-02-25 豊田工機株式会社 力センサを用いた加工制御装置
US4878002A (en) * 1988-10-27 1989-10-31 Advanced Engineering Systems, Operations & Products, Inc. Multi-axis DSP-based parallel processing servo controller for machine tools and robots

Also Published As

Publication number Publication date
EP0400624A3 (de) 1991-05-15
EP0400624B1 (de) 1994-10-26
DE69013573T2 (de) 1995-03-16
US5055755A (en) 1991-10-08
EP0400624A2 (de) 1990-12-05

Similar Documents

Publication Publication Date Title
DE69013573T2 (de) Verteilersteuergerät.
DE69021899T2 (de) DMA-Steuerung.
DE59002204D1 (de) Semiaktive fahrwerksregelung.
DE59001273D1 (de) Leiteinrichtung.
NO892702L (no) Kontrollsystem.
DE3789230T2 (de) Steuerungseinheit.
DE3883109D1 (de) Steuerungsgeraet.
DE69020927D1 (de) Anzeigesteuerung.
DE59004675D1 (de) Leistungs-Steuereinheit.
FI912578A0 (fi) Funktionsenhet.
DE69023236D1 (de) Digitales steuerungsgerät.
FI884967A (fi) Kontrollanordning foer fuktmaetare foer faeltbruk.
DE69013351T2 (de) Steuerungshebel.
DE69001490D1 (de) Steuersystem mit multiplexer.
DE69030439D1 (de) Fingerbetätigbare steuergeräte
DE69030816T2 (de) Serielle steuereinheit
DE59005954D1 (de) Regelsystem.
DE68919938T2 (de) Steuergerät.
DE69002576T2 (de) Steuerhebelanordnung.
DE59006561D1 (de) Leistungsregelanordnung.
DE59009004D1 (de) Regelungsanordnung.
NO903611L (no) Styreventil.
FI901364A0 (fi) Kontrollmekanism foer on-off-switch.
DE59004827D1 (de) Verteilervorrichtung.
DE69020510D1 (de) Setzplatzsteuerungsgerät.

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee