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1.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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2.发明公开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
公开(公告)号：EP0323277A3
公开(公告)日：1990-08-16
申请号：EP88312460.4
申请日：1988-12-30
IPC分类号： B25J9/18 , B23Q35/128
CPC分类号： B23Q35/128 , G05B19/425 , G05B2219/36417 , G05B2219/45104 , G05B2219/4701
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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3.发明公开Parametric path modeling for an optical automatic seam tracker and real time robotic control system 失效参数，自动光学焊缝跟随器和实时控制系统用于工业机器人。
公开(公告)号：EP0375418A2
公开(公告)日：1990-06-27
申请号：EP89313430.4
申请日：1989-12-21
CPC分类号： B23Q35/128 , B25J9/1664 , B25J9/1684 , G05B19/42 , G05B19/425 , G05B2219/36417 , G05B2219/37572 , G05B2219/45104 , G05B2219/4701
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.
摘要翻译： 在机器人系统甜点的控制处理器光学沿着前方的工具，它被分类相对于经过的距离，并确定在3-D坐标和3轴的工具取向，路径感测到的位置，以在实时和下前馈一个应用 表示的路径上的预期的工具位置和预期所感测的位置之间的误差控制信号。在这个过程中，预期的感测到的位置由参考获得与分组为经过的距离的函数，并具有所存储的感测到的位置由时间提前一个模型 一个共同的代数特征,:如斜率或斜率变化。 机器人示教的路径已经由控制处理器，以便根据经过的距离和控制与由机器人提供的实际工具位置回收。
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4.发明公开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
公开(公告)号：EP0375418A3
公开(公告)日：1990-07-18
申请号：EP89313430.4
申请日：1989-12-21
CPC分类号： B23Q35/128 , B25J9/1664 , B25J9/1684 , G05B19/42 , G05B19/425 , G05B2219/36417 , G05B2219/37572 , G05B2219/45104 , G05B2219/4701
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.
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，以实时和前馈a 控制信号表示预期刀具位置与路径上预期感测位置之间的误差。 在该过程中，通过参考提前制作的模型，将存储的感测位置分组为经过距离的函数并具有公共代数特征（例如斜率或斜率变化）获得预期感测位置。 机器人的教导路径已经由控制处理器基于经过的距离恢复，并且控制与由机器人提供的实际工具位置相关。
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5.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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6.发明公开Parametric path modeling for an optical automatic seam tracker and real time robotic control system 失效建模用于自动光学焊缝从动件和系统，用于实时机器人控制器的参数路径。
公开(公告)号：EP0323277A2
公开(公告)日：1989-07-05
申请号：EP88312460.4
申请日：1988-12-30
IPC分类号： B25J9/18 , B23Q35/128
CPC分类号： B23Q35/128 , G05B19/425 , G05B2219/36417 , G05B2219/45104 , G05B2219/4701
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.
摘要翻译： 在机器人系统对待控制处理器光学沿着前方的工具，它被分类相对于经过的距离，并确定在3-D坐标和3轴的工具取向，路径感测到的位置，以在实时和下前馈一个应用 表示的路径上的预期的工具位置和预期所感测的位置之间的误差控制信号。在这个过程中，预期的感测到的位置由参考获得与分组为经过的距离的函数，并具有所存储的感测到的位置由时间提前一个模型 一个共同的代数特征,:如斜率或斜率变化。 机器人示教的路径已经由控制处理器，以便根据经过的距离和控制与由机器人提供的实际工具位置回收。
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