Off-line programmable robot

Details Off-line programmable robot Off-line programmable robot

1983-07-11

1986-05-20

Smith, Jerry

Boots, shoes, and leggings

364167, 364191, 364571, 318632, 901 3, 901 33, 901 35, 901 47, G06F 1546

Patent

active

045905789

ABSTRACT:
Machine operations are performed by a robot at a plurality of locations on a workpiece based on off-line data. The off-line data is corrected based on two levels of workpiece/robot alignment. First the robot determines the orientation of a fixture to which the workpiece is mounted by "touching-off" on known reference points (touchblocks) on the fixture. Coordinate data for the location of local features on the workpiece is corrected based on the first level of alignment and the positions of the local features are then sensed to provide a coordinate transformation for subsequent application to nominal machine operation location coordinates. The local features may be preassembly rivets and provide for individualized robot response on a workpiece-by-workpiece basis.

REFERENCES:
patent: 3920972 (1975-11-01), Corwin, Jr. et al.
patent: 4338672 (1982-07-01), Perzley et al.
patent: 4362977 (1982-12-01), Evans et al.
patent: 4382215 (1983-05-01), Barlow et al.
patent: 4429266 (1984-01-01), Tradt
patent: 4453085 (1984-06-01), Pryor
patent: 4481592 (1984-11-01), Jacobs et al.
"An Off-Line Programming Approach", R. L. Tarvin, Robotics Today, Summer 1981, pp. 30-35.
"Robotic Drilling and Riveting Using Computer Vision", R. C. Movich, Robots V Conference, Oct. 1980.

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