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1.发明申请公开(公告)号：US20170144256A1
公开(公告)日：2017-05-25
申请号：US14946879
申请日：2015-11-20
Applicant: Fanuc America Corporation
Inventor： Jianming Tao , Bradley Niederquell , Peter Levick
Abstract: A method for performing coordinated stationary tracking during a welding operation performed on a cylindrical part includes mounting a cylindrical part on a rotating arm having a central rotational axis and directing a welding torch to a weld position wherein the welding torch is directed toward an initial weld joint position. The rotating arm is rotated about the central rotational axis thereof to provide relative movement between the cylindrical part and the welding torch when the welding torch is positioned at the weld position. During the rotating of the rotating arm the welding torch remains substantially stationary while a tracking sensor of the welding robot periodically determines geometric information of the cylindrical part based on a rotational position of the rotating arm. The geometric information regarding the cylindrical part is then used to determine vertical and lateral offsets to be applied to the welding torch relative to the weld position.
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2.发明授权公开(公告)号：US10556290B2
公开(公告)日：2020-02-11
申请号：US14946879
申请日：2015-11-20
Applicant: Fanuc America Corporation
Inventor： Jianming Tao , Bradley Niederquell , Peter Levick
Abstract: A method for performing coordinated stationary tracking during a welding operation performed on a cylindrical part includes mounting a cylindrical part on a rotating arm having a central rotational axis and directing a welding torch to a weld position wherein the welding torch is directed toward an initial weld joint position. The rotating arm is rotated about the central rotational axis thereof to provide relative movement between the cylindrical part and the welding torch when the welding torch is positioned at the weld position. During the rotating of the rotating arm the welding torch remains substantially stationary while a tracking sensor of the welding robot periodically determines geometric information of the cylindrical part based on a rotational position of the rotating arm. The geometric information regarding the cylindrical part is then used to determine vertical and lateral offsets to be applied to the welding torch relative to the weld position.
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公开(公告)号：US20140297033A1
公开(公告)日：2014-10-02
申请号：US14228318
申请日：2014-03-28
Applicant: Fanuc America Corporation
Inventor： Jianming Tao , Charles R. Strybis , Bradley Niederquell , Jason Tsai
IPC: B25J9/16
CPC classification number: B25J9/1602 , B23K26/0884 , B23K26/70 , B23K2101/006 , B25J9/1679 , G05B13/021 , G05B2219/36495 , G05B2219/45104 , Y10S901/42
Abstract: A method for adaptive control of a robotic operation of a robot includes providing a software program to generate process signals executable during the robotic operation, including one or more execution commands. A first Signal Value channel is provided to control at least one control process parameter of the robot, where the first Signal Value channel is subject to a first time latency. The execution timing of the first Signal Value channel is synchronized with the one or more execution commands by accounting for the first time latency in relation to the one or more execution commands. The software program is run to generate the process signals and the robot is operated in response to the synchronized execution timing of the execution commands.
Abstract translation: 一种用于机器人的机器人操作的自适应控制的方法包括提供软件程序以产生在机器人操作期间可执行的包括一个或多个执行命令的过程信号。 提供第一信号值通道以控制机器人的至少一个控制过程参数，其中第一信号值通道经受第一时间延迟。 第一信号值信道的执行定时与一个或多个执行命令同步，计算与一个或多个执行命令相关的第一时间延迟。 运行软件程序以生成过程信号，并且响应于执行命令的同步执行定时操作机器人。
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公开(公告)号：US10052759B2
公开(公告)日：2018-08-21
申请号：US14228318
申请日：2014-03-28
Applicant: Fanuc America Corporation
Inventor： Jianming Tao , Charles R. Strybis , Bradley Niederquell , Jason Tsai
CPC classification number: B25J9/1602 , B23K26/0884 , B23K26/70 , B23K2101/006 , B25J9/1679 , G05B13/021 , G05B2219/36495 , G05B2219/45104 , Y10S901/42
Abstract: A method for adaptive control of a robotic operation of a robot includes providing a software program to generate process signals executable during the robotic operation, including one or more execution commands. A first Signal Value channel is provided to control at least one control process parameter of the robot, where the first Signal Value channel is subject to a first time latency. The execution timing of the first Signal Value channel is synchronized with the one or more execution commands by accounting for the first time latency in relation to the one or more execution commands. The software program is run to generate the process signals and the robot is operated in response to the synchronized execution timing of the execution commands.
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