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

Parametric path modeling for an optical automatic seam tracker and real time robotic control system
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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