Method and apparatus for controlling manipulator and workpiece p

Details Method and apparatus for controlling manipulator and workpiece p Method and apparatus for controlling manipulator and workpiece p

1984-08-13

1986-07-01

Smith, Jerry

Boots, shoes, and leggings

364474, 318568, 901 20, G06F 1546, G05B 1942

Patent

active

045983801

ABSTRACT:
A method and apparatus are provided for cooperatively controlling motion between a tool centerpoint associated with a function element carried by a manipulator and rotation of a workpiece carried by a positioner. The tool centerpoint follows a linear path interpolated between programmed locations at a velocity resulting in a relative velocity between the tool centerpoint and the workpiece surface equal to a programmed velocity. Differences in radial distance of the tool centerpoint from the axis of rotation of the workpiece at successive programmed locations result in incremental velocity modifications along the path to maintain the relative velocity at the programmed value.

REFERENCES:
patent: 3909600 (1975-09-01), Hohn
patent: 4262336 (1981-04-01), Pritchard
patent: 4453221 (1984-06-01), Davis
patent: 4506335 (1985-03-01), Magnuson
patent: 4538233 (1985-08-01), Resnick et al.

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