Apparatus for dynamically controlling the tool centerpoint of a

Details Apparatus for dynamically controlling the tool centerpoint of a Apparatus for dynamically controlling the tool centerpoint of a

1981-04-03

1983-09-06

Nusbaum, Mark E.

Boots, shoes, and leggings

364167, 364513, 318568, 414730, G06F 1546, G05B 1924

Patent

active

044032811

ABSTRACT:
An apparatus is disclosed for modifying the motion of a tool centerpoint associated with the function element of a robot arm. The motion to be modified is produced during an automatic mode of operation in which the tool centerpoint travels along predetermined paths between programmed points at a programmed velocity. The apparatus is effective to modify the motion during the automatic mode in response to sensed deviations from the predetermined path. Two alternative schemes of modifying the motion are disclosed. A first alternative scheme returns the tool centerpoint to the predetermined path before it reaches the programmed point defining the end of the path. A second alternative scheme produces a new end point offset from the programmed end point and effects motion along offset paths which are translated and rotated from the predetermined paths defined by the programmed points. Both schemes are suitable for effecting modification of motion in response to deviations which are commanded manually by an operator or automatically by equipment monitoring the workpiece processing effected by the function element.

REFERENCES:
patent: Re30016 (1979-05-01), Hohn
patent: 3770947 (1973-11-01), Deily
patent: 3866179 (1975-02-01), McGee et al.
patent: 3888361 (1975-06-01), Becker et al.
patent: 4025838 (1977-05-01), Watanabe
patent: 4035706 (1977-07-01), Cutler
patent: 4086522 (1978-04-01), Engelberger et al.
patent: 4140953 (1979-02-01), Dunne
patent: 4162527 (1979-07-01), Kilbane et al.
patent: 4166543 (1979-09-01), Dahlstrom
patent: 4178632 (1979-12-01), Anthony
patent: 4347578 (1982-08-01), Inaba
patent: 4356554 (1982-10-01), Suswjara et al.
`A Flexible Robot Arc Welding System`, J. G. Holmes and B. J. Resnick, pp. 1, 12, 13, Soc. of Manf. Engr. MS 79-790, (1979).
User's Guide to Val.TM., A Robot Programming and Control System by Unimation Inc., Ver. 12, Jun. 1980.

Affiliated with

Also associated with

Rating

Apparatus for dynamically controlling the tool centerpoint of a does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Apparatus for dynamically controlling the tool centerpoint of a , we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Apparatus for dynamically controlling the tool centerpoint of a will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-1595016