| 摘要 |
During demonstration of a job sequence by an operator, an image error signal generated by a camera raster, is fed into a register, where it corrects the actual raster position, which is then stored in a data store. A tachometer signal from a joint of a model of a robot arm being manipulated by the operator is subtracted from a corresponding tachometer signal on the robot arm and passed to a processor. The processor uses an iterative procedure to evaluate a set of constants from the tachometer signals from the model. The servo signals are subsequently used to enable the robot arm to repeat the job sequence.
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