Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path

摘要: An apparatus is disclosed for modifying the motion of a tool centerpoint associated with function element robot arm. The to be modified produced during an automatic mode operation in which travels along predetermined paths between programmed points at velocity. effective modify response sensed deviations from path. Two alternative schemes are disclosed. A first scheme returns path before it reaches point defining end second produces new offset and effects translated rotated defined by points. Both suitable effecting modification commanded manually operator or automatically equipment monitoring workpiece processing effected element.