Method and apparatus for controlling manipulator and workpiece positioner
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United States of America Patent
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Jul 1, 1986
Grant Date -
N/A
app pub date -
Aug 13, 1984
filing date -
Aug 13, 1984
priority date (Note) -
Expired
status (Latency Note)
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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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