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Method and apparatus for controlling manipulator and workpiece positioner

  • US 4,598,380 A
  • Filed: 08/13/1984
  • Issued: 07/01/1986
  • Est. Priority Date: 08/13/1984
  • Status: Expired due to Fees
First Claim
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1. Method for cooperatively controlling motion of a tool centerpoint associated with the function element carried by a manipulator and rotation of a workpiece carried by a positioner, the motion effected by the manipulator being along a linear path intersecting the axis of rotation of the workpiece, the motion being defined by input signals, the manipulator and positioner having movable members driven by actuators controlled by servomechanism circuits, the relative motion of the tool centerpoint and workpiece surface being effected at a velocity represented by an input signal, the method comprising the steps of:

  • a. iteratively producing incremental velocity signals in response to the input signals, each incremental velocity signal representing the velocity of the tool centerpoint during an iteration interval;

    b. modifying the incremental velocity signals in proportion to the change in radial distance of the tool centerpoint from the axis of rotation of the workpiece between successive iterations;

    c. producing intermediate location coordinate signals in response to the modified incremental velocity signals, the intermediate location coordinate signals representing coordinates relative to a rectangular coordinate system associated with the manipulator of an intermediate location along the linear path of the tool centerpoint and an intermediate rotation of the workpiece; and

    d. applying the intermediate location coordinate signals to the servomechanism circuits to effect coordinated motion of the movable members of the manipulator and positioner.

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