| 摘要 |
Control apparatus for manipulator welding apparatus is provided that includes a vision correction system for workpiece sensing. During an initial teach mode, the manipulator is taught the desired welding path on a workpiece by the appropriate recording of data representing the welding path as an operator controls movement of the manipulator. In addition to the data representing the taught welding path, data representing a reference image or template is also recorded in the teach mode. The reference image or template data is provided by a vision system including a camera carried by the manipulator arm. As successive workpieces are presented to the manipulator for performing the desired welding path, in a repeat work cycle mode the manipulator is controlled to move in accordance with the recorded taught data in a first repeat pass wherein images of the welding seam region are detected at successive points. The vision system utilizing an image processor detects the deviation between the taught welding path and the actual welding path of the workpiece. The control apparatus in response to the deviation data provided by the image processor in the first repeat pass corrects the recorded taught data to provide corrected welding path data for the particular workpiece orientation and geometry encountered by the manipulator. During a second repeat pass of the repeat work cycle mode, welding of the actual workpiece seam is performed in accordance with the corrected welding path data obtained in the first repeat pass. |
