Trajectory correlation and error detection method and apparatus
US4150326A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 19, 1977 |
| Grant date | Apr 17, 1979 |
| Priority date | — |
| Expiry date | Sep 19, 1997 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50197
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Trajectory correlation and error detection apparatus is provided for use with a programmed manipulator to detect movement during an operational work cycle outside a predetermined volumetric envelope. The trajectory correlation and error detection apparatus stores positional data representations of the manipulator during an observed acceptable operational work cycle and compares those stored positional data representations with the actual positional representations during subsequent work cycles to thereby detect an error mode. The detected error during an operational work cycle may be caused by a memory readout malfunction, drive train system malfunction, manipulator positional representation apparatus malfunction, control circuitry malfunction, etc. A warning to nearby personnel and an emergency stop or withdraw command is executed in addition to the normal protective devices on the manipulator apparatus to further ensure against injury to personnel and damage to surrounding machinery, test equipment and work pieces.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.