Accession Number : ADA141705

Title :   An Algorithm for Seam Tracking Applications.

Descriptive Note : Interim technical rept.,


Personal Author(s) : Khosla,P K ; Neuman,C P ; Prinz,F B

PDF Url : ADA141705

Report Date : May 1984

Pagination or Media Count : 39

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)

Descriptors :   *Algorithms, *Computations, *Tracking, *Seam welding, Manufacturing, Robotics, Robots, Real time, Degrees of freedom, Matrices(Mathematics), Requirements

Subject Categories : Theoretical Mathematics
      Couplers, Fasteners, and Joints

Distribution Statement : APPROVED FOR PUBLIC RELEASE