Method and apparatus for oscillating a tool carried by a manipul

Details Method and apparatus for oscillating a tool carried by a manipul Method and apparatus for oscillating a tool carried by a manipul

1984-10-15

1987-01-06

Smith, Jerry

Boots, shoes, and leggings

364169, 364513, 318568, 901 2, 21912512, G06G 764, G05B 1918, B25J 900, B23K 912

Patent

active

046352066

ABSTRACT:
A method and apparatus are provided for providing for controlled oscillation of a tool centerpoint associated with a function element carried by manipulator simultaneously with motion of a workpiece feature relative to a predetermined location. The tool centerpoint describes a predetermined pattern relative to the workpiece feature as a result of the combined motion. Tool centerpoint oscillation occurs in an oscillation path between two extremes determined by pattern parameters defining pattern amplitude measured with respect to a pattern longitudinal axis. The direction of the oscillation path is defined by input signals representing angles measured relative to a rectangular coordinate system used for defining the predetermined location. The rate of tool centerpoint motion is defined by an input signal representing velocity.

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patent: 4491718 (1985-01-01), Cook et al.
patent: 4517438 (1983-09-01), Sugitani et al.
patent: 4538233 (1985-08-01), Resnick et al.
patent: 4598380 (1986-07-01), Holmes et al.

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