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.

Abstract: A method of positioning a tool along a circular arc. The tool is carried by an automaton which is moved through a teaching phase during which it is taught coordinates and wrist orientation angles for three reference points. The method then proceeds into a work phase in which calculations are performed to determine coordinates and wrist angles for a series of work points spaced along the circular arc defined by the three reference points. Thereafter the automaton is direction to position the tool at the calculated coordinates and orientations.

Abstract: Apparatus and method are disclosed for teaching a cycle of operation to a computer operated robot arm. A keyboard is provided comprising first keystroke means which are operative in two different teaching modes. In a first teaching mode, the keystroke means cause storage of individual instructions defining an operation to be performed by the robot arm at a point in space. In the second teaching mode the first keystroke means are operative for creating a macro comprising a sequence of such instructions for later use. There is a pendant which controls the movement of the end of the robot arm and has second keystroke means for causing a previously stored macro to be assembled into an operating control program for the robot arm. The second keystroke means also may be used for causing assembly of individual instructions into the operating control program.

Abstract: An apparatus is provided for controlling the execution of functions associated with the automatic operation of a manipulator. While traditional function execution has been associated with arrival of a workpoint at or proximate to a predetermined point, the present invention provides for plural function execution between predetermined points. Two alternative embodiments are provided: a first embodiment controls a single output interface type and is unrelated to functions associated with predetermined points; a second embodiment provides multiple executions of any function normally associated with a predetermined point. Spacing between function executions associated with either embodiment is controlled as a function of distance specified by the operator. To produce a desired spacing, feedrate reduction is automatically effected in the event a programmed feedrate is incompatible with a specified function execution interval.