| 摘要 |
<p>Interactive combined action between a sensing device and a control device enables a treatment device such as a welding torch to follow a spatially fixed target path such as a seam to be welded. The treatment device and the sensing device move in tandem according to a predetermined path segment, the sensing device being situated at a fixed distance in front of the treatment device in the direction of advance. Measured data collected by the sensing device relating to deviations between a measured reference position and a target path are recorded and corrected on the basis of positional changes which the treatment device has undergone with respect to the predetermined target path. The corrected measured data are used to cause subsequent positional changes of the treatment device which are directed transversely with respect to the predetermined path segment. By rotating the connecting line between the treatment device and the sensing device it is also possible to follow target paths which would fall outside the field of view of the sensing device without such rotation.</p> |
