公开(公告)号：US4972347A

公开(公告)日：1990-11-20

申请号：US255507

申请日：1988-10-11

申请人： Ronald L. Tarvin ,  Keith R. Wehmeyer

发明人： Ronald L. Tarvin ,  Keith R. Wehmeyer

IPC分类号： B25J9/16 ,  B25J9/18

CPC分类号： B25J9/1692 ,  G05B2219/45083 ,  G05B2219/50336

摘要： A method and apparatus by which correct tool dimensions for a three dimensional tool mounted on a manipulator can be determined. The manipulator operator inputs initial values for the tool dimensions into the manipulator control in the teach mode. Having established a target point within the manipulator's working volume, the operator, by means of teach pendant, causes the tool center point to approach and touch the target point from four different directions, at least one of which is noncoplanar with respect to the other three. For each approach point coordinates X, Y, Z, D, E, R are entered into the control. The control thereafter executes an analytical procedure including a major iteration loop which calculates the coordinates of the target point. In a first minor iteration loop within the major iteration loop updated tool dimensions are derived. In a second minor iteration loop within the major iteration loop new coordinates for the tool center point approach points are calculated. The differences between the average of the calculated coordinates of the target point and the average of the calculated coordinates of the approach points are determined. If the differences fall within operator determined limits the tool dimensions calculated in the first minor iteration loop are used. If not, the major iteration loop is repeated using the calculated values the tool dimensions and approach point coordinates of the previous iteration until they do, or until a predetermined number of iterations has been performed, whereupon an error signal is displayed.

摘要翻译： 可以确定安装在操纵器上的三维工具的正确工具尺寸的方法和装置。 操纵器操作员在示教模式下将刀具尺寸的初始值输入到操纵器控制中。 在操纵器的工作体积内建立目标点之后，操作者通过教导装置使工具中心点从四个不同的方向接近并触摸目标点，其中至少一个方向相对于另外三个方向是非共面的 。 对于每个接近点，坐标X，Y，Z，D，E，R被输入到控制中。 此后的控制执行包括计算目标点的坐标的主要迭代循环的分析过程。 在主要迭代循环中的第一个小的迭代循环中，派生了更新的工具维度。 在主迭代循环中的第二个次迭代循环中，计算刀具中心点逼近点的新坐标。 确定目标点的计算坐标的平均值与接近点的计算坐标的平均值之间的差异。 如果差异落在操作者确定的限度内，则使用在第一次轻微循环中计算的刀具尺寸。 如果不是，则使用所计算的值重复使用前一次迭代的工具尺寸和接近点坐标的主迭代循环，直到它们执行，或直到执行了预定数量的迭代，从而显示错误信号。

公开(公告)号：US4835710A

公开(公告)日：1989-05-30

申请号：US74815

申请日：1987-07-17

申请人： Joseph W. Schnelle ,  Gregory Webb ,  Ronald L. Tarvin ,  James V. Brown

发明人： Joseph W. Schnelle ,  Gregory Webb ,  Ronald L. Tarvin ,  James V. Brown

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  G05B19/41 ,  G05B19/4103

CPC分类号： G05B19/41 ,  G05B2219/45104

摘要： A method of positioning a tool along a circular arc. The tool is carried by an automaton which is moved through a teaching phase during which it is taught coordinates and wrist orientation angles for three reference points. The method then proceeds into a work phase in which calculations are performed to determine coordinates and wrist angles for a series of work points spaced along the circular arc defined by the three reference points. Thereafter the automaton is direction to position the tool at the calculated coordinates and orientations.

公开(公告)号：US4623971A

公开(公告)日：1986-11-18

申请号：US509987

申请日：1983-06-30

申请人： LaVerne K. Ailman ,  Danny E. Riggen ,  Ronald L. Tarvin

发明人： LaVerne K. Ailman ,  Danny E. Riggen ,  Ronald L. Tarvin

IPC分类号： G05B19/4103 ,  G05B11/32 ,  B25J11/00 ,  G05B13/00

CPC分类号： G05B19/4103 ,  G05B2219/41186 ,  G05B2219/43188 ,  G05B2219/43203

摘要： A method and apparatus are provided for controlling interpolated linear motion of a tool centerpoint associated with a function element carried by a machine. The motion is defined by input signals representing locations relative to an input coordinate system and path velocities therebetween. The machine includes at least one member rotating about an axis which is subject to movement at a velocity greater than the path velocity. Control is effected by producing projected velocity signals for the machine axes for each interpolative iteration and reducing the iterative path velocity in response to detecting a projected axis velocity in excess of an associated axis velocity limit. The control is applicable to machines incorporating a structure in which members must instantaneously change position to maintain the tool centerpoint on the path.

摘要翻译： 提供一种用于控制与机器携带的功能元件相关联的工具中心点的内插线性运动的方法和装置。 运动由表示相对于输入坐标系的位置的输入信号和它们之间的路径速度来定义。 机器包括至少一个绕轴线转动的构件，该构件以大于路径速度的速度运动。 通过为每个内插迭代产生用于机器轴的预测速度信号来实现控制，并且响应于检测到超过相关轴速度极限的投影轴速度而减小迭代路径速度。 该控制适用于结合有构件必须瞬间改变位置以维持工具中心点在路径上的结构的机器。

公开(公告)号：US4433382A

公开(公告)日：1984-02-21

申请号：US285378

申请日：1981-07-20

申请人： Carole S. Cunningham ,  Charles M. Linser ,  Brian J. Resnick ,  Ronald L. Tarvin

发明人： Carole S. Cunningham ,  Charles M. Linser ,  Brian J. Resnick ,  Ronald L. Tarvin

IPC分类号： B25J9/16 ,  G05B19/18 ,  G05B19/408 ,  G05B19/42 ,  G05B19/23 ,  G06F15/46

CPC分类号： G05B19/4083 ,  G05B2219/39177

摘要： Apparatus for adjusting the position of a robot arm in response to coordinate data supplied by an external user process control. During the execution of a programmed cycle of operation, a robot control causes the robot arm to move to a predetermined programmed position. In response to a programmed adjust function code, the robot control requests change-of-position information from the user process control. Depending on the actual position of the robot arm, the user process control may transmit a set of adjusted coordinate data to the robot control defining an adjusted position. The robot control moves the robot arm to the adjusted position and proceeds with the programmed cycle of operation.

摘要翻译： 用于响应于由外部用户过程控制提供的坐标数据来调节机器人手臂的位置的装置。 在执行编程的操作周期期间，机器人控制使机器人手臂移动到预定的编程位置。 响应于编程的调整功能代码，机器人控制从用户进程控制请求位置改变信息。 根据机器人手臂的实际位置，用户过程控制可以将一组经调整的坐标数据发送到定义调整位置的机器人控制。 机器人控制将机器人手臂移动到调整位置，并进行编程的操作周期。