发明名称 |
Parametric path modeling for an optical automatic seam tracker and real time robotic control system. |
摘要 |
<p>A control processor in a robotic system treats optically sensed locations along the path ahead of the tool, which are classified in relation to elapsed distances and identified in 3-D coordinates and 3-axes tool orientation, to apply in real time and under feedforward a control signal representing the error between anticipated tool position and anticipated sensed location on the path. In the process, the anticipated sensed location is obtained by reference to a model made ahead of time with the stored sensed locations grouped as a function of elapsed distances and having a common algebraic feature, such as the slope or the change of slope. A taught path for the robot has been recovered by the control processor also based on elapsed distances and control is related to actual tool position provided by the robot.</p> |
申请公布号 |
EP0323277(A2) |
申请公布日期 |
1989.07.05 |
申请号 |
EP19880312460 |
申请日期 |
1988.12.30 |
申请人 |
WESTINGHOUSE ELECTRIC CORPORATION |
发明人 |
TAFT, JEFFREY DAVID;ELLISON, JAMES FRANS |
分类号 |
B25J13/08;B23K9/127;B23Q35/128;B25J9/18;B25J19/04;G05B19/425;G05D3/12 |
主分类号 |
B25J13/08 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|