Trajectory correlation and error detection method and apparatus

Details Trajectory correlation and error detection method and apparatus Trajectory correlation and error detection method and apparatus

1977-09-19

1979-04-17

Dobeck, B.

Electricity: motive power systems

Positional servo systems

With protective or reliability increasing features

318568, 361 23, 340147MT, G05B 902

Patent

active

041503260

ABSTRACT:
Trajectory correlation and error detection apparatus is provided for use with a programmed manipulator to detect movement during an operational work cycle outside a predetermined volumetric envelope. The trajectory correlation and error detection apparatus stores positional data representations of the manipulator during an observed acceptable operational work cycle and compares those stored positional data representations with the actual positional representations during subsequent work cycles to thereby detect an error mode. The detected error during an operational work cycle may be caused by a memory readout malfunction, drive train system malfunction, manipulator positional representation apparatus malfunction, control circuitry malfunction, etc. A warning to nearby personnel and an emergency stop or withdraw command is executed in addition to the normal protective devices on the manipulator apparatus to further ensure against injury to personnel and damage to surrounding machinery, test equipment and work pieces.

REFERENCES:
patent: 3914675 (1975-10-01), Konrad
patent: 3946296 (1976-03-01), Lahm
patent: 3987283 (1976-10-01), Moeller

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