Method and system for correcting a robot path

Details Method and system for correcting a robot path Method and system for correcting a robot path

1988-09-26

1990-07-31

Ruggiero, Joseph

Boots, shoes, and leggings

31856819, 31856822, 31856823, 364191, 901 9, G06F 1546

Patent

active

049454935

ABSTRACT:
A method and system for correcting a programmed robot manipulator path to compensate for variability of the location of a succession of workpieces includes the steps of sensing and measuring path offsets between the idealized workpiece location and the actual location of the workpiece at a plurality of waypoints, converting the measured offsets into translations and rotations of the workpiece by multiplying a matrix comprised of the offset measurements by a previously prepared conversion matrix, correcting the coordinates of waypoints within the preprogrammed path by applying the translations and rotations to such coordinates, transforming the corrected preprogrammed path coordinates into machine control coordinates, and providing a controller for the robot manipulator with such machine control coordinates.

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patent: 4590578 (1986-05-01), Barto, Jr. et al.
patent: 4639878 (1987-01-01), Day et al.
patent: 4707647 (1987-11-01), Coldren et al.

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