An Algorithm for Seam Tracking Applications.
Interim technical rept.,
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
Pagination or Media Count:
Seam tracking is currently accomplished by special features of the robot and a priori knowledge of seam geometry. This paper demonstrates the feasibility of tracking a seam in real-time. A general-purpose seam tracking algorithm is developed for implementation on a robot with six degrees-of-freedom. The algorithm is motivated by a physical interpretation of the t sub 6 and dt sub 6 matrices, and the assumption that three dimensional seam data are available. In the past, dT sub s matrix and inverse Jacobian solutions have been used to compute the differential changes in the joint angles. By using the inverse Jacobian , an iterative algorithm is introduced to compute both large and small changes in the joint variables. The versatile seam tracking algorithm can be applied to a multitude of robotic seam tracking activities such as gluing, surface grinding and flame cutting. Author
- Theoretical Mathematics
- Couplers, Fasteners and Joints