Abstract: A method and apparatus by which correct tool dimensions for a three dimensional tool mounted on a manipulator can be determined. The manipulator operator inputs initial values for the tool dimensions into the manipulator control in the teach mode. Having established a target point within the manipulator's working volume, the operator, by means of teach pendant, causes the tool center point to approach and touch the target point from four different directions, at least one of which is noncoplanar with respect to the other three. For each approach point coordinates X, Y, Z, D, E, R are entered into the control. The control thereafter executes an analytical procedure including a major iteration loop which calculates the coordinates of the target point. In a first minor iteration loop within the major iteration loop updated tool dimensions are derived. In a second minor iteration loop within the major iteration loop new coordinates for the tool center point approach points are calculated.

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: A method and apparatus are provided for controlling interpolated linear motion of a tool centerpoint associated with a function element carried by a machine. The motion is defined by input signals representing locations relative to an input coordinate system and path velocities therebetween. The machine includes at least one member rotating about an axis which is subject to movement at a velocity greater than the path velocity. Control is effected by producing projected velocity signals for the machine axes for each interpolative iteration and reducing the iterative path velocity in response to detecting a projected axis velocity in excess of an associated axis velocity limit. The control is applicable to machines incorporating a structure in which members must instantaneously change position to maintain the tool centerpoint on the path.

Abstract: Apparatus for adjusting the position of a robot arm in response to coordinate data supplied by an external user process control. During the execution of a programmed cycle of operation, a robot control causes the robot arm to move to a predetermined programmed position. In response to a programmed adjust function code, the robot control requests change-of-position information from the user process control. Depending on the actual position of the robot arm, the user process control may transmit a set of adjusted coordinate data to the robot control defining an adjusted position. The robot control moves the robot arm to the adjusted position and proceeds with the programmed cycle of operation.