Method and apparatus for controlling manipulator and workpiece positioner
US4598380A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Aug 13, 1984 |
| Grant date | Jul 1, 1986 |
| Priority date | — |
| Expiry date | Aug 13, 2004 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02P90/02
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.