| 摘要 |
<p>@ During demonstration of a job sequence by an operator, an image error signal (1) generated by a camera raster, is fed into a register (2), where it corrects the actual raster position, which is then stored in a data store (3). A tachometer signal (11) from a joint of a model of a robot arm, being manipulated by the operator, is subtracted from a corresponding tachometer signal (12) on the robot arm and passed to a processor (5).</p><p>The processor (5) uses an iterative procedure to evaluate a set of constants from the tachometer signals (11) from the model. The servo signals are subsequently used to enable the robot arm to repeat the job sequence.</p> |
