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Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing

  • US 4,380,696 A
  • Filed: 11/12/1980
  • Issued: 04/19/1983
  • Est. Priority Date: 11/12/1980
  • Status: Expired due to Term
First Claim
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1. Control apparatus for manipulator welding apparatus, the manipulator apparatus having a manipulator arm controllable in one or more axes and arranged to perform a weld path on a workpiece at a workpiece station, the control apparatus comprising:

  • means for storing manipulator arm position data during an initial teach phase representing a desired taught weld path with respect to a reference workpiece at a predetermined location at the workpiece station;

    means for projecting a predetermined light pattern on the workpiece at said workpiece station;

    means for storing a reference image of said projected predetermined light pattern during said teach phase;

    means for moving said manipulator arm along said taught weld path in accordance with said stored manipulator arm position data during a first repeat phase with respect to a second subsequent workpiece;

    means for sensing said predetermined projected light pattern on said second subsequent workpiece as said manipulator arm moves along said taught weld path during said first repeat phase;

    image processing means responsive to said sensing means for generating deviation data representing the deviation between the actual weld path of said second workpiece and said path described by said manipulator arm during said first repeat phase;

    means responsive to said generated deviation data for generating corrected weld path data representing said actual weld path on said second workpiece; and

    means responsive to said corrected weld path data for moving said manipulator arm and controlling said manipulator welding apparatus to weld said second workpiece along said actual weld path during a second repeat phase.

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