Method and apparatus for controlling manipulator and workpiece positioner
First Claim
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.
3 Assignments
0 Petitions
Accused Products
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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Citations
27 Claims
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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:
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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. - View Dependent Claims (2, 3, 4)
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5. A method for selectively, 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 representing starting and ending locations of the tool centerpoint relative to a rectangular coordinate system associated with the manipulator and starting and ending angular locations of the workpiece relative to the axis of rotation of the workpiece, 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, and axial and radial limit distances relative to the workpiece positioner being defined by further input signals, the method comprising the steps of:
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a. producing a velocity coordination status signal in response to the input signals, the velocity coordination status signal representing the presence of a starting location within an envelope defined by the axial and radial limit distance input signals; b. producing an effective linear distance signal representing the distance resulting from the combination of tool centerpoint motion and workpiece rotation; c. producing an adjusted programmed velocity signal in response to the effective linear distance signal and the programmed velocity signal, the adjusted programmed velocity signal representing the velocity of the tool centerpoint which results in a relative velocity between the tool centerpoint and the workpiece surface equal to the programmed velocity; d. iteratively producing incremental velocity signals in response to the adjusted programmed velocity signal and the location coordinate and rotation input signals, each incremental velocity signal representing the velocity of the tool centerpoint during an iteration interval; e. 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 programmed locations; f. 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 the tool centerpoint and intermediate rotations of the workpiece; and g. applying the intermediate location coordinate signals to the servomechanism circuits to effect coordinated motion of the tool centerpoint and the workpiece. - View Dependent Claims (6, 7)
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8. A method for cooperatively controlling motion of the 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 representing coordinates of starting and ending locations of the tool centerpoint motion relative to a rectangular coordinate system associated with the manipulator, starting and ending orientations of the function element through the tool centerpoint at the programmed locations and starting and ending angular locations of the workpiece, 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 step of:
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a. producing an effective linear distance signal representing the distance resulting from the combination of tool centerpoint motion and workpiece rotation; b. producing an adjusted programmed velocity signal in response to the effective linear distance signal and the programmed velocity signal, the adjusted programmed velocity signal representing the velocity of the tool centerpoint which results in a relative velocity between the tool centerpoint and the workpiece surface equal to the programmed velocity; c. iteratively producing incremental velocity signals in response to the location coordinate input signals and the adjusted programmed velocity signal, each incremental velocity signal representing the velocity of the tool centerpoint during an iteration interval; d. 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 programmed locations; e. producing intermediate location coordinate signals in response to the modified incremental velocity signal, the intermediate location coordinate signals representing coordinates relative to the manipulator rectangular coordinate system of intermediate locations of the tool centerpoint and intermediate orientations of the function element and intermediate angular locations of the workpiece; and f. applying the intermediate location coordinate signals to the servo mechanism circuits to effect coordinated motion between the tool centerpoint and the workpiece. - View Dependent Claims (9, 10)
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11. Apparatus for cooperatively controlling motion of a tool centerpoint associated with a 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 positioning device 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 apparatus comprising:
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a. means for storing input signals; b. means responsive to the input signals for iteratively producing incremental velocity signals, each incremental velocity signal representing the velocity of the tool centerpoint during an iteration interval; c. means for modifying the incremental velocity signal in proportion to the change in radial distance of the tool centerpoint from the axis of rotation of the workpiece between successive iterations; d. means responsive to the modified incremental velocity signal for producing intermediate location coordinate signals representing coordinates of an intermediate location along the linear path of the tool centerpoint relative to a rectangular coordinate system associated with the manipulator and an intermediate angular coordinate of the workpiece rotation relative to the axis of rotation of the workpiece; e. means for applying the intermediate location coordinate signals to the servomechanism circuits to effect coordinated motion of the tool centerpoint and the workpiece at a relative velocity defined by the velocity input signal. - View Dependent Claims (12, 13, 14, 15)
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16. Appratus for cooperatively controlling motion of a tool centerpoint associated with a 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 oblique to the axis of rotation of the workpiece and having a component tangent to an arc swept by a radius from the axis of rotation of the workpiece to the tool centerpoint, the motion being defined by input signals representing starting and ending locations of the tool centerpoint relative to a rectangular coordinate system associated with the manipulator and the starting and ending angular locations of the workpiece, 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 apparatus comprising:
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a. means for storing input signals; b. means responsive to the input signals for producing an effective linear distance signal representing the distance resulting from the combination of tool centerpoint motion and workpiece rotation; c. means responsive to the effective linear distance signal for producing an adjusted programmed velocity signal representing the velocity of the tool centerpoint which results in a relative velocity between the tool centerpoint and the workpiece surface equal to the program velocity; d. means responsive to the input signals and the adjusted velocity signal for iteratively producing incremental velocity signals, each incremental velocity signal representing the velocity of the tool centerpoint during an iteration interval; e. means for 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; f. means responsive to the modified incremental velocity signal for producing intermediate location coordinate signals representing coordinates relative to the manipulator coordinate system of an intermediate location along the linear path of the tool centerpoint and further representing intermediate rotations of the workpiece; and g. means for applying the intermediate location coordinate signals to the servo mechanism circuits to effect coordinated motions between the tool centerpoint and the workpiece. - View Dependent Claims (17, 18, 19, 20)
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21. Apparatus for selectively, cooperatively controlling motion of a tool centerpoint associated with a 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 representing starting and ending locations of the tool centerpoint relative to a rectangular coordinate system associated with the manipulator and the starting and ending angular coordinates of the workpiece relative to the axis of rotation thereof, 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 input signals, further input signals defining axial and radial limit distances relative to the axis of rotation of the workpiece, the apparatus comprising:
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a. means for storing input signals; b. means responsive to the input signals for producing a velocity coordination status signal representing the presence of a starting location within an envelope defined by the axial and radial limit distance signals; c. means responsive to the velocity coordination status signal for producing an adjusted velocity signal representing the velocity of the tool centerpoint resulting in a velocity thereof relative to the workpiece surface equal to the programmed velocity; d. means responsive to the location defining input signals and the adjusted velocity signals for iteratively producing incremental velocity signals, each incremental velocity signal representing the velocity of the tool centerpoint during an iteration interval; e. means for modifying the incremental velocity signals in proportions to the change in radial distance of the tool centerpoint from the axis of rotation of the workpiece between successive iterations; f. means responsive to the modified incremental velocity signals for producing 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 angular coordinate of the workpiece rotation relative to the axis of rotation thereof; and g. means for applying the intermediate coordinate signals to the servo mechanism circuits to effect coordinated motion of the movable members. - View Dependent Claims (22, 23)
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24. An apparatus for cooperatively controlling motion of the 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 representing starting and ending locations of the tool centerpoint motion and starting and ending orientations of the function element through the tool centerpoint and starting and ending angular positions of the workpiece, the manipulator and positioner having movable members driven by actuators controlled by servomechanisms circuits, the relative motion of the tool centerpoint and workpiece surface being effected at a velocity represented by input signals, the apparatus comprising:
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a. means for storing input signals; b. means responsive to the input signals for iteratively producing incremental velocity signals, each incremental velocity signal representing the velocity of the tool centerpoint during an iteration interval; c. means for 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; d. means responsive to the modified incremental velocity signals for producing 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 intermediate changes of orientation of the function element through the tool centerpoint and intermediate rotations of the workpiece; and e. means for applying the intermediate location, orientation and rotation coordinate signals to the servomechanism circuits to effect coordinated motion between the tool centerpoint and the workpiece. - View Dependent Claims (25, 26, 27)
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Specification