Procedure for generating a tool trajectory on a workpiece surface.

摘要

The method concerns generation of a trajectory on a workpiece surface for a took operated by a robot. It consists of producing a trajectory model consisting of links, readjusting the model and determining the trajectory points by means of the readjusted model. The method is characterised by inclusion of the following additional steps (a) visual check of surface irregularities; (b) indication of the points demarcating the localities with surface irregularities; (c) projection of the demarcation points onto the trajectory; (d) correction of the model by inclusion of the links defined by the demarcation points. <IMAGE>