Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing
US4380696A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Nov 12, 1980 |
| Grant date | Apr 19, 1983 |
| Priority date | — |
| Expiry date | Nov 12, 2000 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45135
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Control apparatus for manipulator welding apparatus is provided that includes a vision correction system for workpiece sensing. During an initial teach mode, the manipulator is taught the desired welding path on a workpiece by the appropriate recording of data representing the welding path as an operator controls movement of the manipulator. In addition to the data representing the taught welding path, data representing a reference image or template is also recorded in the teach mode. The reference image or template data is provided by a vision system including a camera carried by the manipulator arm. As successive workpieces are presented to the manipulator for performing the desired welding path, in a repeat work cycle mode the manipulator is controlled to move in accordance with the recorded taught data in a first repeat pass wherein images of the welding seam region are detected at successive points. The vision system utilizing an image processor detects the deviation between the taught welding path and the actual welding path of the workpiece. The control apparatus in response to the deviation data provided by the image processor in the first repeat pass corrects the recorded …
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.