发明名称 |
Method and apparatus for oscillating a tool carried by a manipulator |
摘要 |
A method and apparatus are provided for providing for controlled oscillation of a tool centerpoint associated with a function element carried by manipulator simultaneously with motion of a workpiece feature relative to a predetermined location. The tool centerpoint describes a predetermined pattern relative to the workpiece feature as a result of the combined motion. Tool centerpoint oscillation occurs in an oscillation path between two extremes determined by pattern parameters defining pattern amplitude measured with respect to a pattern longitudinal axis. The direction of the oscillation path is defined by input signals representing angles measured relative to a rectangular coordinate system used for defining the predetermined location. The rate of tool centerpoint motion is defined by an input signal representing velocity.
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申请公布号 |
US4635206(A) |
申请公布日期 |
1987.01.06 |
申请号 |
US19840661000 |
申请日期 |
1984.10.15 |
申请人 |
CINCINNATI MILACRON INC. |
发明人 |
BHATIA, MADHUKAR;RESNICK, BRIAN J. |
分类号 |
G05B19/37;(IPC1-7):G06G7/64;G05B19/18;B25J9/00;B23K9/12 |
主分类号 |
G05B19/37 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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