System and method for enhancing reach of a robotic arm

摘要

A system and method for machining a work-piece in restrictive access operating position is disclosed. The system includes a robot arm adapted to access the bottom face of the work-piece; a computation means adapted to compute a central line on the bottom face while ascertaining an area of overlap that is accessible from all sides of the work-piece; and a robot controller adapted to sequentially maneuver the robot arm from one side of the work-piece to other side of the work-piece on the bottom face. Other embodiments are also disclosed.

主权项

1. A robotic system for machining a work-piece in restrictive access operating position, said system comprising:
a robot arm adapted to access a face of the work-piece with a restricted reach of the robot arm of a robot, wherein the face is a bottom face of the work-piece; a reach determination means adapted to determine a maximum reach of a tool held by the robot arm on the bottom face of the of the work-piece from both sides of the work-piece; a computation means adapted to:
compute positional coordinates of the tip of the tool held by the robot arm;compute positional coordinates of a central line on the bottom face; andcompute, based on the maximum reach, an area of overlap located on the bottom face and comprising the central line that is accessible from both sides of the work-piece; and a robot controller adapted to:
sequentially maneuver the robot arm on the bottom face from one side of the work-piece to other side of the work-piece crossing the central line andposition the central line on the area of overlap on the bottom face of the work-piece in a machining zone such that the area of overlap is within the restricted reach of the robot arm from each of the opposite sides of the workpiece.