Method and apparatus for controlling manipulator and workpiece positioner.

摘要

A method and apparatus are provided for cooperatively conrolling motion between a tool centrepoint associated with a function element carried by a manipulator and rotation of a workpiece carried by a positioner. The tool centrepoint follows a linear path interpolated between programmed locations at a velocity resulting in a relative velocity between the tool centrepoint and the workpiece surface equal to a programmed velocity. Differences in radial distance of the tool centrepoint 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.