Off-line teach assist apparatus and on-line control apparatus

Details Off-line teach assist apparatus and on-line control apparatus Off-line teach assist apparatus and on-line control apparatus

G - Physics

05

B

342/22.1

G05B 19/04 (2006.01) B25J 9/00 (2006.01) B25J 9/16 (2006.01) G05B 19/418 (2006.01) G05B 19/425 (2006.01)

Patent

CA 1119279

ABSTRACT OF THE DISCLOSURE Teach assist apparatus is provided for a programmable manipulator arm to precompute a projected fixed path solution during an initial teaching operation. The projected fixed path solution represents a desired series of work operations of the manipulator arm to be performed with respect to a workpiece in the minimum execution time while the workpiece is moving at a projected velocity. The teach assist apparatus computes the minimum execu- tion time on the basis of the maximum dynamic capabilities of the manipulator arm being taught. The teach assist apparatus receives input data represent- ing the positions of the arm relative to the workpiece as the arm is moved during the initial teaching operation to different positions of the station- ary workpiece. The teach positions of the arm correspond to the desired series of work operations of the manipulator relative to the stationary workpiece. The teach assist apparatus then formats the precomputed path data for storage into a control memory of the programmable manipulator. The stored data also include projected workpiece positions in terms of basic linear displacement units corresponding to positions of the work- piece. During an on-line replay or playback of the series of work opera- tions, control apparatus is provided to reconstruct the precomputed fixed path solution from the stored data in accordance with dynamic movement of the workpiece. The control apparatus performs arithmetic computations in accordance with a stored program as determined by the data recorded in the main control memory.

323356

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