发明公开
EP0375418A3 Parametric path modeling for an optical automatic seam tracker and real time robotic control system
失效
光学自动跟踪跟踪器和实时机器人控制系统的参数路径建模
- 专利标题: Parametric path modeling for an optical automatic seam tracker and real time robotic control system
- 专利标题(中): 光学自动跟踪跟踪器和实时机器人控制系统的参数路径建模
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申请号: EP89313430.4申请日: 1989-12-21
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公开(公告)号: EP0375418A3公开(公告)日: 1990-07-18
- 发明人: Taft, Jeffrey David , Ellison, James Frans
- 申请人: WESTINGHOUSE ELECTRIC CORPORATION
- 申请人地址: Westinghouse Building Gateway Center Pittsburgh Pennsylvania 15222 US
- 专利权人: WESTINGHOUSE ELECTRIC CORPORATION
- 当前专利权人: WESTINGHOUSE ELECTRIC CORPORATION
- 当前专利权人地址: Westinghouse Building Gateway Center Pittsburgh Pennsylvania 15222 US
- 代理机构: van Berlyn, Ronald Gilbert
- 优先权: US288651 19881222
- 主分类号: B25J9/18
- IPC分类号: B25J9/18 ; G05B19/42
摘要:
A control processor in a robotic system treats optically sensed locations along the path ahead of the tool, which are classified in relation to elapsed distances and identified in 3-D coordinates and 3-axes tool orientation, to apply in real time and under feedforward a control signal representing the error between anticipated tool position and anticipated sensed location on the path. In the process, the anticipated sensed location is obtained by reference to a model made ahead of time with the stored sensed locations grouped as a function of elapsed distances and having a common algebraic feature, such as the slope or the change of slope. A taught path for the robot has been recovered by the control processor also based on elapsed distances and control is related to actual tool position provided by the robot.
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