Parametric path modeling for an optical automatic seam...

Details Parametric path modeling for an optical automatic seam... Parametric path modeling for an optical automatic seam...

G - Physics

05

D

341/105

G05D 3/20 (2006.01) B25J 9/16 (2006.01) G05B 19/425 (2006.01)

Patent

CA 2003827

ABSTRACT OF THE DISCLOSURE 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 orienta- tion, 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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