Robotic weld gun orientation normalization

摘要

A method for controlling a welding robot having a servo gun with a movable tip and a fixed tip includes the steps of separately contacting a surface of a part with the movable tip to measure a base test point and an at least two additional test points displaced from the base test point. Two non-collinear vectors are calculated from the at least two additional test points. A normal vector is calculated from the two non-collinear vectors. An angle between the original servo gun orientation and the normal vector is determined. An orientation of the servo gun may be corrected, for example, if the angle is within user specified tolerances.

主权项

1. A method for controlling a welding robot having a servo gun with a movable tip and a fixed tip, the method comprising the steps of:
contacting a surface of a part with the movable tip to measure a base test point; displacing the movable tip away from the base test point and contacting the surface with the movable tip at different locations displaced from the base test point to measure an at least two additional test points on the surface displaced from the base test point; calculating two non-collinear vectors from the at least two additional test points; calculating a normal vector from the two non-collinear vectors; and comparing an angle between an original servo gun orientation and the normal vector.