Trajectory correlation and error detection method and apparatus
Numerical control system for controlling both a machine tool and a robot
Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path
Manipulator with adaptive velocity controlled path motion Patent #: 4453221
ApplicationNo. 06/484645 filed on 04/13/1983
US Classes:318/568.14, Manual lead through318/568.16, With particular sensing device318/568.22, With particular compensation (e.g., gain, offset, etc.)414/4, Electric or fluid motor drive for manipulator700/264, Having particular operator interface (e.g., teaching box, digitizer, tablet, pendant, dummy arm)700/64, Position recording901/43Spray painting or coating
ExaminersPrimary: Dobeck, B.
Attorney, Agent or Firm
International ClassB25J 9/16 (20060101)
AbstractA control system for a work robot having a number of articulated links including a controller for driving the links under closed loop servo control in response to a sequence of recorded link position commands read from a robot program memory. The sequence of link position commands is produced in a training session by an operator manually manipulating a robot simulator, or training arm, through a series of work-performing motions which are to be duplicated by the work robot. The sequence of link position commands produced by manual manipulation of the training arm during the training session is stored in the robot program memory. When the work robot is subsequently driven under closed loop servo control in response to the program stored in the robot memory, the controller also executes auxiliary functions, such as movement of a work piece operated upon by the work robot, in response to auxiliary function commands which are also stored in the robot program memory. In order to properly store the auxiliary function commands in the robot program memory, the auxiliary function commands are loaded in an auxiliary function memory prior to a training session so that they can be read out in a desired sequence.
Field of SearchMonitoring systems