ANORDNING FOR ATT MODIFIERA RORELSEN FOR EN VERKTYGSMITTPUNKT

摘要

An apparatus is disclosed for modifying the motion of a tool centerpoint associated with the function element of a robot arm. The motion to be modified is produced during an automatic mode of operation in which the tool centerpoint travels along predetermined paths between programmed points at a programmed velocity. The apparatus is effective to modify the motion during the automatic mode in response to sensed deviations from the predetermined path. Two alternative schemes of modifying the motion are disclosed. A first alternative scheme returns the tool centerpoint to the predetermined path before it reaches the programmed point defining the end of the path. A second alternative scheme produces a new end point offset from the programmed end point and effects motion along offset paths which are translated and rotated from the predetermined paths defined by the programmed points. Both schemes are suitable for effecting modification of motion in response to deviations which are commanded manually by an operator or automatically by equipment monitoring the workpiece processing effected by the function element.