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:
Jul. 31, 1990
Filed:
Sep. 26, 1988
Bernard Huang, Ann Arbor, MI (US);
Veljko Milenkovic, Sturgeon Bay, WI (US);
Ford Motor Company, Dearborn, MI (US);
Abstract
A method and system for correcting a programmed robot manipulator path to compensate for variability of the location of a succession of workpieces includes the steps of sensing and measuring path offsets between the idealized workpiece location and the actual location of the workpiece at a plurality of waypoints, converting the measured offsets into translations and rotations of the workpiece by multiplying a matrix comprised of the offset measurements by a previously prepared conversion matrix, correcting the coordinates of waypoints within the preprogrammed path by applying the translations and rotations to such coordinates, transforming the corrected preprogrammed path coordinates into machine control coordinates, and providing a controller for the robot manipulator with such machine control coordinates.