Electric heating – Metal heating – By arc
Patent
1985-12-23
1987-06-23
Shaw, Clifford C.
Electric heating
Metal heating
By arc
318574, 901 3, 901 42, 901 47, B23K 912
Patent
active
046755020
ABSTRACT:
A real time steering capability is provided to permit robot motion to be modified continuously in three dimensions as the robot is moving along a taught path. An arc welding robot or other taught path robot has a sensor located on the robot arm to sense the position of a desired path. The tracking control provides real time steering commands to the standard robot taught path and are calculated based on maintaining a constant, preprogrammed velocity along the desired path and coordination with the taught path. Offsets to the robot taught path are computed in a manner that allows the robot to smoothly follow the actual path as measured by the look ahead path sensor. The offsets are determined as separate x, y, z and twist integrations for the end effector and represent the total deviations from the robot taught path.
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patent: 4356378 (1982-10-01), Cloos et al.
patent: 4380696 (1983-04-01), Masaki
patent: 4542279 (1985-09-01), Case, Jr. et al.
patent: 4568816 (1986-02-01), Casler, Jr.
L. M. Sweet, "Sensor-Based Control Systems for Arc Welding Robots", TIS Report No. 84CRD024, Feb. 1984, Corporate Research and Development, General Electric Co.
R. S. Baheti, et al, "Operational Performance of Vision-Based Arc Welding Robot Control System", Sensors and Controls for Automated Manufacturing and Robotics, ed. by K. A. Stelson and L. M. Sweet, WAM ASME, Dec. 9-14, 1984, pp. 93-105.
Haefner Kenneth B.
Kuo Ming H.
Sweet Larry M.
Campbell Donald R.
Davis Jr. James C.
General Electric Company
Shaw Clifford C.
Webb II Paul R.
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