Method and apparatus for controlling manipulator and...

Details Method and apparatus for controlling manipulator and... Method and apparatus for controlling manipulator and...

G - Physics

05

B

341/97, 342/22.1

G05B 19/418 (2006.01)

Patent

CA 1233224

METHOD AND APPARATUS FOR CONTROLLING MANIPULATOR AND WORKPIECE POSITIONER ABSTRACT A method and apparatus are provided for cooperatively controlling motion between a tool centerpoint associated with a function element carried by a manipulator and rotation of a workpiece carried by a positioner. The tool centerpoint follows a linear path interpolated between programmed locations at a velocity resulting in a relative velocity between the tool centerpoint and the workpiece surface equal to a programmed velocity. Differences in radial distance of the tool centerpoint from the axis of rotation of the workpiece at successive programmed locations result in incremental velocity modifications along the path to maintain the relative velocity at the programmed value.

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