DE3476172D1 - Method and apparatus for controlling a robot - Google Patents

Method and apparatus for controlling a robot

Info

Publication number
DE3476172D1
DE3476172D1 DE8484107013T DE3476172T DE3476172D1 DE 3476172 D1 DE3476172 D1 DE 3476172D1 DE 8484107013 T DE8484107013 T DE 8484107013T DE 3476172 T DE3476172 T DE 3476172T DE 3476172 D1 DE3476172 D1 DE 3476172D1
Authority
DE
Germany
Prior art keywords
robot
controlling
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
Application number
DE8484107013T
Other languages
English (en)
Inventor
Koichi Sugimoto
Hisaaki Hirabayashi
Shinichi Arai
Shiyuki Sakaue
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.)
Hitachi Ltd
Original Assignee
Hitachi 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.)
Filing date
Publication date
Priority claimed from JP10917183A external-priority patent/JPS603010A/ja
Priority claimed from JP21499883A external-priority patent/JPS60108285A/ja
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Application granted granted Critical
Publication of DE3476172D1 publication Critical patent/DE3476172D1/de
Expired 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J13/085—Force or torque sensors
DE8484107013T 1983-06-20 1984-06-19 Method and apparatus for controlling a robot Expired DE3476172D1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP10917183A JPS603010A (ja) 1983-06-20 1983-06-20 ロボットの制御方法及びそのロボット
JP21499883A JPS60108285A (ja) 1983-11-17 1983-11-17 非接触センサによる多自由度ロボットの制御方法

Publications (1)

Publication Number Publication Date
DE3476172D1 true DE3476172D1 (en) 1989-02-23

Family

ID=26448953

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8484107013T Expired DE3476172D1 (en) 1983-06-20 1984-06-19 Method and apparatus for controlling a robot

Country Status (3)

Country Link
US (1) US4621332A (de)
EP (1) EP0129245B1 (de)
DE (1) DE3476172D1 (de)

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US4999553A (en) * 1989-12-28 1991-03-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for configuration control of redundant robots
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JP2997036B2 (ja) * 1990-11-30 2000-01-11 本田技研工業株式会社 脚式移動ロボットの歩行制御装置
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JP3883939B2 (ja) * 2002-09-04 2007-02-21 ファナック株式会社 ロボットシステムにおけるカメラ用ケーブル及び力センサ用ケーブルの配線処理構造
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WO2018079771A1 (ja) * 2016-10-31 2018-05-03 ライフロボティクス株式会社 近接センサ装置及びロボットアーム機構
JP6829263B2 (ja) * 2016-10-31 2021-02-10 ライフロボティクス株式会社 ロボットアーム機構
JP2018089747A (ja) * 2016-12-05 2018-06-14 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP7135408B2 (ja) * 2018-04-26 2022-09-13 セイコーエプソン株式会社 ロボット制御装置およびロボットシステム
JP7172277B2 (ja) * 2018-08-21 2022-11-16 セイコーエプソン株式会社 制御装置及びロボットシステム
KR102543596B1 (ko) * 2018-08-31 2023-06-19 삼성전자주식회사 외력의 측정을 위한 적어도 하나의 파라미터를 산출하는 방법 및 이를 수행하는 전자 장치
JP2020192614A (ja) * 2019-05-24 2020-12-03 京セラドキュメントソリューションズ株式会社 ロボット装置及び把持方法
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Also Published As

Publication number Publication date
EP0129245A1 (de) 1984-12-27
US4621332A (en) 1986-11-04
EP0129245B1 (de) 1989-01-18

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