| 摘要 |
Teach assist apparatus for a programmable manipulator arm precomputes a projected fixed path solution, during an initial teaching operation, which represents a desired series of work operations of the manipulator arm in the minimum execution time while the workpiece is moving at a projected velocity. The apparatus receives input data representing the positions of the arm relative to the stationary workpiece during the teaching operation. It then formats the precomputed path data for storage into a control memory of the manipulator. The stored data also includes projected workpiece positions in terms of basic linear displacement units corresponding to positions of the workpiece. During playback of the series of work operations, control apparatus is provided to reconstruct the precomputed fixed path solution from the stored data in accordance with movement of the workpiece. <IMAGE> |
