Method and means for path offsets memorization and recall in a

Abstract

A method and means for memorizing path deviations of a manipulator arm, and recalling the same deviations to adjust succeeding passes. During the seam-tracking pass, any feature or sensor system can be used which will cause the manipulator supported tool to deviate from the programmed path of travel. Offsets generated during the initial seam-tracking paths are memorized and thereafter recalled so that the manipulator arm can perform subsequent passes along the seam with the seam-track function off. While seam-tracking, the offsets are automatically memorized at distinct preprogrammed offset distance intervals. Each offset is placed sequentially in a memory data table. The offsets are recalled during a subsequent pass at each offset distance interval at which they were memorized so that the subsequent pass has the same deviations as the initial seam-tracked pass. Subsequent passes can be executed in the same direction as the initial seam-tracking pass, or in the opposite direction. In the first instance, offsets are recalled from the memory data table in a first-in, first-out basis. In the second instance, the offsets are recalled in a first-in, last-out basis.