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公开(公告)号：US20240316768A1
公开(公告)日：2024-09-26
申请号：US18579421
申请日：2022-07-20
发明人： Daniel M. Bodily , Brett R. Hemes , Xin Dong
CPC分类号： B25J9/1664 , B25J9/1684 , B25J11/0065 , B25J19/023 , G05B19/4207 , G05B2219/35132
摘要： A robotic system is presented that includes a surface inspection system that receives sampling information for a number of areas within a region of a worksurface. The system also includes a robotic arm, coupled to a surface engaging tool, the robotic repair arm being configured to cause the surface processing tool to engage the region of the worksurface. The system also includes a process mapping system configured to, based on the sampling information: approximate a surface topography in the region of the worksurface, generate a surface processing plan for the region based on the approximated surface topography that includes a trajectory. The surface processing plan includes one of: a force profile along the trajectory, a velocity profile for the surface engaging tool along the trajectory, a rotational speed profile, for the surface engaging tool, along the trajectory, or a trajectory modification that accounts for the presence of a surface feature identified in the approximated surface topography. The process mapping system is also configured to generate a control signal for the robotic arm that includes the surface processing plan.
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公开(公告)号：US5892345A
公开(公告)日：1999-04-06
申请号：US856342
申请日：1997-05-14
申请人： John H. Olsen
发明人： John H. Olsen
CPC分类号： B26F3/004 , G05B19/237 , G05B19/258 , G05B19/298 , G05B19/416 , B26D5/00 , G05B2219/34097 , G05B2219/34098 , G05B2219/34221 , G05B2219/35002 , G05B2219/35097 , G05B2219/35132 , G05B2219/36308 , G05B2219/36568 , G05B2219/41186 , G05B2219/41384 , G05B2219/41408 , G05B2219/42072 , G05B2219/42092 , G05B2219/43162 , G05B2219/45036 , G05B2219/49369 , G05B2219/50207
摘要： A system for controlling motion in machine tools and industrial robots. From the specification of a part to be cut or a path to be followed by a machine tool or a robot, the system calculates, for each axis, for each incremental step along the path, a position command, a time delay between successive position commands, and, optionally, a force command based on a prediction of predicted resistive forces. Calculations are specified for precisely controlling velocity, acceleration, and jerk. The generated data is stored in a memory device and subsequently directed to the machine tool or robot.
摘要翻译： 一种用于控制机床和工业机器人运动的系统。 根据要切割的部件的规格或机床或机器人要跟随的路径，系统针对每个轴计算沿着路径的每个增量步长，位置命令，连续位置命令之间的时间延迟 ，并且可选地，基于预测的阻力的预测的力命令。 规定精确控制速度，加速度和加加速度的计算。 生成的数据被存储在存储设备中，并且随后指向机床或机器人。
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公开(公告)号：US5508596A
公开(公告)日：1996-04-16
申请号：US134174
申请日：1993-10-07
申请人： John H. Olsen
发明人： John H. Olsen
CPC分类号： B26F3/004 , G05B19/237 , G05B19/258 , G05B19/298 , G05B19/416 , B26D5/00 , G05B2219/34097 , G05B2219/34098 , G05B2219/34221 , G05B2219/35002 , G05B2219/35097 , G05B2219/35132 , G05B2219/36308 , G05B2219/36568 , G05B2219/41186 , G05B2219/41384 , G05B2219/41408 , G05B2219/42072 , G05B2219/42092 , G05B2219/43162 , G05B2219/45036 , G05B2219/49369 , G05B2219/50207
摘要： A system for controlling motion in machine tools and industrial robots. From the specification of a part to be cut or a path to be followed by a machine tool or a robot, the system calculates, for each axis, for each incremental step along the path, a position command, a time delay between successive position commands, and, optionally, a force command based on a prediction of predicted resistive forces. Calculations are specified for precisely controlling velocity, acceleration, and jerk. The generated data is stored in a memory device and subsequently directed to the machine tool or robot.
摘要翻译： 一种用于控制机床和工业机器人运动的系统。 根据要切割的部件的规格或机床或机器人要跟随的路径，系统针对每个轴计算沿着路径的每个增量步长，位置命令，连续位置命令之间的时间延迟 ，并且可选地，基于预测的阻力的预测的力命令。 规定精确控制速度，加速度和加加速度的计算。 生成的数据被存储在存储设备中，并且随后指向机床或机器人。
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