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1.发明公开Optical automatic seam tracker and real time control system for an industrial robot 失效Automatischer optischer Schweissnahtfolger und Echtzeitsteuerungssystemfüreinen industriellen Roboter。
公开(公告)号：EP0323278A2
公开(公告)日：1989-07-05
申请号：EP88312461.2
申请日：1988-12-30
IPC分类号： B25J9/18 , G05B19/42 , B23Q35/128
CPC分类号： G05B19/425 , B23Q35/128 , G05B2219/36417 , G05B2219/45104 , G05B2219/4701
摘要： A control processor in a robotic system treats optically sensed locations along the seam 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 interpolation between actually sensed locations. A taught path is recovered from the robot. The control processor operation is also based on elapsed distances and related to actual tool position provided by the robot.
摘要翻译： 机器人系统中的控制处理器处理沿着工具之前的接缝路径的光学感测位置，其根据经过的距离被分类，并且以3-D坐标和3轴工具取向被识别，以实时和在前馈 表示预期工具位置与路径上的预期感测位置之间的误差的控制信号。 在该过程中，通过在实际检测到的位置之间的内插获得预期的感测位置。 从机器人恢复教导的路径。 控制处理器的操作也基于经过的距离并且与机器人提供的实际刀具位置有关。
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2.发明公开Optical automatic seam tracker and real time control system for an industrial robot 失效光学自动跟踪仪和实时机器人实时控制系统
公开(公告)号：EP0323278A3
公开(公告)日：1990-07-18
申请号：EP88312461.2
申请日：1988-12-30
IPC分类号： B25J9/18 , G05B19/42 , B23Q35/128
CPC分类号： G05B19/425 , B23Q35/128 , G05B2219/36417 , G05B2219/45104 , G05B2219/4701
摘要： A control processor in a robotic system treats optically sensed locations along the seam 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 interpolation between actually sensed locations. A taught path is recovered from the robot. The control processor operation is also based on elapsed distances and related to actual tool position provided by the robot.
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公开(公告)号：EP0323279A3
公开(公告)日：1990-08-22
申请号：EP88312462.0
申请日：1988-12-30
IPC分类号： B25J9/18 , B23Q35/128
CPC分类号： G05B19/425 , B23K9/1274 , B23Q35/128 , G05B2219/36417 , G05B2219/45104 , G05B2219/4701
摘要： An image processing system uses the digital expression of the video image of a light stripe derived optically from a seam to create a 1-D signal representative of a one-pixel wide line. The target coordinates for the tool operating on the seam is converted directly into 3-D tool position and orientation from the 1-D signal. Matching with models is effected in real time by comparing symbolic attributes of the graphs built up with the 1-D signal and with standard seams. From such matching is selected the operative corner, or target for the tool.
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4.发明公开Image processing system for an optical seam tracker 失效Bildbearbeitungssystemfüreinen optischen Schweissnahtfolger。
公开(公告)号：EP0323279A2
公开(公告)日：1989-07-05
申请号：EP88312462.0
申请日：1988-12-30
IPC分类号： B25J9/18 , B23Q35/128
CPC分类号： G05B19/425 , B23K9/1274 , B23Q35/128 , G05B2219/36417 , G05B2219/45104 , G05B2219/4701
摘要： An image processing system uses the digital expression of the video image of a light stripe derived optically from a seam to create a 1-D signal representative of a one-pixel wide line. The target coordinates for the tool operating on the seam is converted directly into 3-D tool position and orientation from the 1-D signal. Matching with models is effected in real time by comparing symbolic attributes of the graphs built up with the 1-D signal and with standard seams. From such matching is selected the operative corner, or target for the tool.
摘要翻译： 图像处理系统使用从缝隙光学导出的光条纹的视频图像的数字表达，以产生表示一像素宽线的1-D信号。 在接缝上操作的刀具的目标坐标从1-D信号直接转换为3-D刀具位置和方向。 通过比较使用1-D信号和标准接缝构建的图形的符号属性，实时匹配模型。 从这样的匹配中选择操作角或工具的目标。
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