Programmable automatic manipulator system

Abstract

A programmable automatic manipulator system, implementable in an arc welding application, involves a manipulator member which may be pre-programmed to move about a plurality of axes of movement. A path sensing probe is connected to a tool attached to the end of the manipulator member in order to detect deviations along the path to be followed. The detected deviations are used to program a desired path of movement and also to adjust the path of movement of the tool in a playback mode in accordance with actual conditions sensed by the probe. Probe signals are periodically interrogated in both the teaching and playback mode in order to detect the extent of deviation of the path from a straight line. The smaller deviations are automatically implemented between interrogation cycles while the larger deviations are stored in the teach mode for retention within the permanent register that contains the program recording the path of movement. An interpolator generates a straight line equation which connects each pair of adjacent significant points during execution or playback. The tool follows the programmed path of movement with corrections being periodically implemented through a probe position interrogation during the playback mode. If any given workpiece which is being operated upon has unexpected deviations which were not previously programmed, the apparatus is able to adjust to slight deviations through the interrogation of the probe during playback.

Dependencies are inferred from the claim text.