[go: up one dir, main page]

WO2009035001A1 - 姿勢制御方法および姿勢制御装置 - Google Patents

姿勢制御方法および姿勢制御装置 Download PDF

Info

Publication number
WO2009035001A1
WO2009035001A1 PCT/JP2008/066336 JP2008066336W WO2009035001A1 WO 2009035001 A1 WO2009035001 A1 WO 2009035001A1 JP 2008066336 W JP2008066336 W JP 2008066336W WO 2009035001 A1 WO2009035001 A1 WO 2009035001A1
Authority
WO
WIPO (PCT)
Prior art keywords
measurement distance
distance
posture control
posture
subtracting
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.)
Ceased
Application number
PCT/JP2008/066336
Other languages
English (en)
French (fr)
Inventor
Jun Fujita
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 Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries 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
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to US12/669,635 priority Critical patent/US8554357B2/en
Priority to CN2008801002435A priority patent/CN101827688B/zh
Priority to EP08831023.0A priority patent/EP2189256B1/en
Publication of WO2009035001A1 publication Critical patent/WO2009035001A1/ja
Anticipated expiration legal-status Critical
Ceased 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B37/00—Component parts or details of steam boilers
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
    • F22B37/005—Positioning apparatus specially adapted therefor
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21D—NUCLEAR POWER PLANT
    • G21D1/00—Details of nuclear power plant
    • G21D1/006—Details of nuclear power plant primary side of steam generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
    • B24C1/10—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for compacting surfaces, e.g. shot-peening
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Plasma & Fusion (AREA)
  • Human Computer Interaction (AREA)
  • Thermal Sciences (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

　処理手段と、処理手段により処理が施される丸管の処理面と、の間の距離を４つの距離計測手段により計測して、処理手段の姿勢を制御する姿勢制御方法であって、第１計測距離から第２計測距離を引いた差分と、第３計測距離から第４計測距離を引いた差分とに基づいて、ピッチ軸周りの姿勢を制御し、第１計測距離から第３計測距離を引いた差分と、第２計測距離から第４計測距離を引いた差分とに基づいて、ヨー軸周りの姿勢を制御し、第２計測距離および第３計測距離を合算した第１合算距離と、第１計測距離および第４計測距離を合算した第２合算距離との差分とに基づいて、ロール軸周りの姿勢を制御する。
PCT/JP2008/066336 2007-09-13 2008-09-10 姿勢制御方法および姿勢制御装置 Ceased WO2009035001A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/669,635 US8554357B2 (en) 2007-09-13 2008-09-10 Posture control method and posture control device
CN2008801002435A CN101827688B (zh) 2007-09-13 2008-09-10 姿势控制方法及姿势控制装置
EP08831023.0A EP2189256B1 (en) 2007-09-13 2008-09-10 Posture control method and posture control device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-238427 2007-09-13
JP2007238427A JP5001762B2 (ja) 2007-09-13 2007-09-13 姿勢制御方法および姿勢制御装置

Publications (1)

Publication Number Publication Date
WO2009035001A1 true WO2009035001A1 (ja) 2009-03-19

Family

ID=40452007

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/066336 Ceased WO2009035001A1 (ja) 2007-09-13 2008-09-10 姿勢制御方法および姿勢制御装置

Country Status (6)

Country Link
US (1) US8554357B2 (ja)
EP (1) EP2189256B1 (ja)
JP (1) JP5001762B2 (ja)
KR (1) KR101175088B1 (ja)
CN (1) CN101827688B (ja)
WO (1) WO2009035001A1 (ja)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8573070B2 (en) * 2011-02-22 2013-11-05 The Boeing Company Force and normality sensing for end effector clamp
US9708079B2 (en) 2014-04-30 2017-07-18 The Boeing Company Mobile automated overhead assembly tool for aircraft structures
US10000298B2 (en) 2014-04-30 2018-06-19 The Boeing Company Metrology system for positioning assemblies
US10427254B2 (en) 2014-04-30 2019-10-01 The Boeing Company Flexible manufacturing for aircraft structures
US9486917B2 (en) 2014-04-30 2016-11-08 The Boeing Company Mobile automated assembly tool for aircraft structures
US9776330B2 (en) 2014-04-30 2017-10-03 The Boeing Company Crawler robot and supporting platform
US10017277B2 (en) 2014-04-30 2018-07-10 The Boeing Company Apparatus, system, and method for supporting a wing assembly
US10118714B2 (en) 2014-04-30 2018-11-06 The Boeing Company System and method for positioning an automated assembly tool relative to a structure
ES2924408T3 (es) * 2016-02-22 2022-10-06 Ingenieria Y Marketing S A Aparato para la limpieza de los alojamientos de los pernos de la tapa de la vasija del reactor de una central nuclear, y método de operación correspondiente
JP6949503B2 (ja) * 2017-02-15 2021-10-13 三菱重工業株式会社 部品製造システム及び部品製造方法
JP6860534B2 (ja) * 2017-11-22 2021-04-14 ファナック株式会社 ツール姿勢制御装置
US11084171B2 (en) 2017-11-22 2021-08-10 Fanuc Corporation Tool posture control apparatus
JP6708675B2 (ja) * 2018-02-22 2020-06-10 ファナック株式会社 ロボット
US10782696B2 (en) 2018-09-07 2020-09-22 The Boeing Company Mobile fixture apparatuses and methods
US10472095B1 (en) 2018-09-07 2019-11-12 The Boeing Company Mobile fixture apparatuses and methods
US11072439B2 (en) 2018-09-07 2021-07-27 The Boeing Company Mobile fixture apparatuses and methods

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6295605A (ja) * 1985-10-22 1987-05-02 Toshiba Corp 三次元位置設定装置
JP2007000940A (ja) * 2005-06-21 2007-01-11 Central Glass Co Ltd ガラス板のパレットへの積載方法および装置
JP2007181909A (ja) 2006-01-10 2007-07-19 Mitsubishi Heavy Ind Ltd 先端工具案内装置及び先端工具案内装置の搬入方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2645328B1 (fr) * 1989-04-04 1991-07-19 Framatome Sa Dispositif de centrage d'un outil d'intervention dans un tube de generateur de vapeur
JPH0651824A (ja) * 1992-07-28 1994-02-25 Meidensha Corp 工具姿勢制御方法
JP3810417B2 (ja) * 2004-06-16 2006-08-16 菅機械産業株式会社 制御装置
DE102004051915B4 (de) * 2004-10-26 2012-11-22 Airbus Operations Gmbh Vorrichtung zur Bearbeitung von Bauteilen für Verkehrsmittel
EP1797992A1 (en) * 2005-12-15 2007-06-20 Ingersoll Machine Tools, Inc. Determining cutting tool dimensions and run-out using acoustic emissions
US8024068B2 (en) * 2006-08-04 2011-09-20 Hurco Companies, Inc. Machine tool control system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6295605A (ja) * 1985-10-22 1987-05-02 Toshiba Corp 三次元位置設定装置
JP2007000940A (ja) * 2005-06-21 2007-01-11 Central Glass Co Ltd ガラス板のパレットへの積載方法および装置
JP2007181909A (ja) 2006-01-10 2007-07-19 Mitsubishi Heavy Ind Ltd 先端工具案内装置及び先端工具案内装置の搬入方法

Also Published As

Publication number Publication date
KR101175088B1 (ko) 2012-08-21
US8554357B2 (en) 2013-10-08
EP2189256B1 (en) 2015-04-15
US20100204817A1 (en) 2010-08-12
CN101827688A (zh) 2010-09-08
EP2189256A1 (en) 2010-05-26
CN101827688B (zh) 2012-05-16
JP5001762B2 (ja) 2012-08-15
EP2189256A4 (en) 2013-08-07
JP2009066713A (ja) 2009-04-02
KR20100025007A (ko) 2010-03-08

Similar Documents

Publication Publication Date Title
WO2009035001A1 (ja) 姿勢制御方法および姿勢制御装置
WO2012083050A3 (en) Electronic control system for a tubular handling tool
EP4404183A3 (en) Inspection robot
WO2012027306A3 (en) Methods and apparatus to determine position error of a calculated position
WO2013036870A3 (en) Spherical three-dimensional controller
WO2008085642A3 (en) Device and method for measuring a property in a downhole apparatus
EP2338416A4 (en) Line-of-sight direction determination device and line-of-sight direction determination method
WO2013009875A3 (en) pH SENSOR SYSTEMS AND METHODS OF SENSING pH
WO2012174067A3 (en) System and method for calibrating an input device
WO2012129314A3 (en) Nanoscale sensors with nanoporous material
WO2010002152A3 (ko) 이동 로봇에서의 자이로 센서 오차를 교정하는 장치 및 방법
WO2013144126A3 (fr) Procede de determination d'un etat de credibilite de mesures de capteurs d'un aeronef et systeme correspondant
EP2643121A4 (en) Apparatus and method for inserting a component through the surface of a workpiece
WO2011142924A3 (en) A method and system for determining levels of gases
PL2577226T3 (pl) Sposób i urządzenie do ciągłego pomiaru grubości warstwy materiału pokrycia na przesuwającej się taśmie
EP2426643A4 (en) Object position inference device, object position inference method, and program
EP2650059A4 (en) Steel foil for solar cell substrate, solar cell substrate, solar cell, and methods for manufacturing the steel foil and the solar cell
EP2360446A4 (en) ANGLE MEASURING DEVICE AND METHOD THEREFOR, AND MACHINE FOR THEIR MANUFACTURE
EP2270250A4 (en) Pipe provided with corrosion prevention layer on the outside surface, process for production of the same, and process for production of alloy wires to be used for corrosion prevention of outside surface of the pipe
EP2434262A4 (en) System for improving the dynamic range and reducing measurement uncertainty in fibre optic distributed sensors and fibre optic distributed measurement equipment
ZA201201343B (en) Photocoustic sensor and method for the production and use thereof
WO2013092090A3 (de) Verfahren und vorrichtungen zur erkennung und behebung von problemen im zusammenhang mit einer fahrzeugbeladung
WO2011038325A3 (en) Dust-repellent nanoparticle surfaces
WO2011032080A3 (en) Borehole force measurement
EP2239549A4 (en) Output compensator for in-cylinder pressure sensor, and in-cylinder pressure detector equipped with the same

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200880100243.5

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08831023

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 12669635

Country of ref document: US

ENP Entry into the national phase

Ref document number: 20107001658

Country of ref document: KR

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2008831023

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE