The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 27, 1989
Filed:
Dec. 31, 1987
Applicant:
Inventor:
Jeffrey D Taft, Plum Boro, PA (US);
Assignee:
Westinghouse Electric Corp., Pittsburgh, PA (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B / ;
U.S. Cl.
CPC ...
31856816 ; 318573 ; 901 47 ; 356376 ; 36416701 ;
Abstract
A look-ahead sensor attached to the its effector end deviates upon each control action upon the robot toward a new position along the seam path. The chord across the seam path from the present effector end to the contemporaneously sensed seam path location is determined and used with the present orientation of the effector end to determine an additional yaw angle compensating for the deviation. As a result, the look-ahead sensor is constantly brought back on track.