Control system for program controlled manipulator having multipl

Details Control system for program controlled manipulator having multipl Control system for program controlled manipulator having multipl

1986-02-20

1987-08-04

Ruggiero, Joseph

Boots, shoes, and leggings

318568, 364193, 901 6, 901 41, 901 42, G06F 1546, G05B 1942

Patent

active

046850678

ABSTRACT:
An apparatus is provided for controlling the execution of functions associated with the automatic operation of a manipulator. While traditional function execution has been associated with arrival of a workpoint at or proximate to a predetermined point, the present invention provides for plural function execution between predetermined points. Two alternative embodiments are provided: a first embodiment controls a single output interface type and is unrelated to functions associated with predetermined points; a second embodiment provides multiple executions of any function normally associated with a predetermined point. Spacing between function executions associated with either embodiment is controlled as a function of distance specified by the operator. To produce a desired spacing, feedrate reduction is automatically effected in the event a programmed feedrate is incompatible with a specified function execution interval.

REFERENCES:
patent: 4086522 (1978-04-01), Engelberger et al.
patent: 4338672 (1982-07-01), Perzley et al.
patent: 4453221 (1984-06-01), Davis et al.
patent: 4481591 (1984-11-01), Spongh
patent: 4484120 (1984-11-01), Olex et al.
patent: 4506335 (1985-03-01), Magnuson
patent: 4598380 (1986-07-01), Holmes et al.
Functional Specification--Time/Distance Trigger--Jun. 11, 1984.

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