Accession Number:

ADA141705

Title:

An Algorithm for Seam Tracking Applications.

Descriptive Note:

Interim technical rept.,

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s):

Report Date:

1984-05-01

Pagination or Media Count:

39.0

Abstract:

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

Subject Categories:

  • Theoretical Mathematics
  • Couplers, Fasteners and Joints

Distribution Statement:

APPROVED FOR PUBLIC RELEASE