System and method for tracking a feature on an object using a redundant axis
First Claim
1. A system for tracking a feature on an object in real time without path preprogramming, said system comprising:
- (a) a manipulator having a movable end and a base, said movable end being movable relative to said base;
(b) a sensor mounted adjacent to said movable end, said sensor being oriented to monitor said feature near said end;
(c) said system having at least two degrees of freedom with at least one degree of freedom being created by a redundant axis; and
(d) said system having control means for receiving information from said sensor, for processing said information to control said redundant axis and for sending processed information to said manipulator, thereby causing said end to track said feature in real time without path preprogramming.
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Abstract
A system and method for seam tracking in real time without path preprogramming uses at least two degrees of freedom and at least one degree of freedom created by a redundant axis. A robot can be used to weld or apply adhesive or sealant to a workpiece that is mounted on a positioner that it is movable relative to a base of the robot as a movable end of the robot tracks a seam on the workpiece. A sensor expresses a seam trajectory in workpiece coordinates and queues the coordinates in a computer processor so that the coordinates can be extracted from the processor to cause the movable end of the robot to track the seam. The workpiece can remain stationary and the robot base can be moved or the base can remain stationary and the workpiece can be moved or both the workpiece and the robot base can be moved. Any reasonable number of redundant axes can be utilized so long as there is one control parameter independently defined for each degree of freedom greater than six. Previous seam tracking systems do not have more than one degree of freedom with one of the degrees of freedom being created by redundant axes and previous systems do not automatically move the robot base relative to the workpiece.
79 Citations
17 Claims
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1. A system for tracking a feature on an object in real time without path preprogramming, said system comprising:
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(a) a manipulator having a movable end and a base, said movable end being movable relative to said base; (b) a sensor mounted adjacent to said movable end, said sensor being oriented to monitor said feature near said end; (c) said system having at least two degrees of freedom with at least one degree of freedom being created by a redundant axis; and (d) said system having control means for receiving information from said sensor, for processing said information to control said redundant axis and for sending processed information to said manipulator, thereby causing said end to track said feature in real time without path preprogramming. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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- 15. A method for tracking a feature on an object in real time without path preprogramming using a system having a manipulator with a movable end and a base, means for moving said manipulator base relative to said object, a sensor mounted adjacent to said end, said sensor being oriented to monitor said feature near said end, said system having at least two degrees of freedom with at least one degree of freedom being created by a redundant axis, with control means for said system, said method comprising activating said control means to receive information from said sensor, processing said information to control said redundant axis, sending processed information to said manipulator and causing said end to track said feature in real time without path preprogramming.
Specification