Abstract: A welding device includes a welding torch having an electrode, an oscillation assembly having an oscillation shaft, and a connection member. The welding torch is affixed to the connection member at a first point and the oscillation shaft is affixed to the connection member at a second point. An extension of the axis of the oscillation shaft intersects with the axis of the welding torch at an intersection point. The distance from the intersection point to the tip of the electrode is less than a distance from the first point on the connection member to the tip of the electrode. During operation, the oscillation in the oscillation shaft is transferred through the connection member to the welding torch and causes pendulum type oscillations in the welding torch with the intersection point serving as the pivot point of the oscillation.

Abstract: Provided is an inverter power supply including a measurement function of measuring deterioration of a rectifier element such as a diode. The inverter power supply includes a step-down stabilization unit that applies a reverse voltage increasing gradually to diodes, an isolation amplifier that detects a current value of a current flowing to the diodes when the reverse voltage is applied, and an inverter control unit that decides that the diodes have deteriorated when the detected current value is larger than a determination current value for determining deterioration of the diodes, and decides that the diodes have not deteriorated when the detected current value is smaller than the determination current value.

Abstract: A laser machine includes a scanner configured to irradiate a workpiece with a laser beam, a robot configured to move the scanner, a robot controller configured to control the robot, and a scanner controller configured to control the scanner so as to control an irradiation position of the laser beam. The scanner controller includes a learned model obtained through supervised learning based on training data including, as input data, drive information relating to the robot at times when the scanner is moved in advance in a plurality of directions and speeds, and as correct data, actual position data and actual posture data of the attached scanner at the times. The actual position data and the actual posture data are calculated on the basis of the drive information relating to the robot in the learned model, and a robot movement consideration/calculation unit compensates the irradiation position of the laser beam.

Abstract: The work support device stores information indicating a work order for each process, and information indicating a work area of a worker for each work in the process. A processor executes a specifying processing in which a target work to be performed by the worker is specified based on the information indicating the work order, a selection processing in which a target area where the target work specified by the specifying processing to be performed by the worker is selected based on the information indicating the work area, an identification processing in which a work performed by the worker is identified based on image data from a camera that captures an image of the area selected by the selection processing, a determination processing in which whether the worker has deviated from the work order is determined based on an identification result by the identification processing.

Abstract: A pipe machining carriage, including a carriage configured to travel along an outer circumference of a pipe, and a chain coupled to both ends of the carriage wraps around the outer surface of the pipe. The carriage and the chain precisely move along the outer surface of the pipe. The disclosure may provide a carriage that performs machining with high accuracy by preventing the carriage from deviating from the original mounted position by moving the chain along with movement of the carriage. The disclosure may also provide a carriage mounted stably on the outer circumferential surface of the pipe to machine the pipe, regardless of pipe diameter, by adjusting a distance between the carriage drive wheels. The disclosure may prevent the carriage from slipping by mounting a front wheel and a rear wheel to the same drive shaft so the front and rear wheels rotate simultaneously in response to motor operation.

Abstract: A laser welding apparatus (1) includes a laser welding head (5) configured to irradiate a workpiece (10) with laser light, a welding filler feeding mechanism (6) configured to supply a welding material to a position on which laser welding is performed, and a hollow structural moving mechanism (100) configured to move a welding unit (50) including the laser welding head and the welding filler feeding mechanism. The hollow structural moving mechanism has an insertion portion (3a) through which wire materials (41 and 62) of the laser welding head and the welding filler feeding mechanism are inserted.

Abstract: The present invention discloses an adaptive and rapid repairing device for single roller, which includes a working module and a mechanical arm module, which are fixedly connected, where the mechanical arm module is connected with a movable module; the working module includes a supporting frame, symmetrical dovetail grooves are opened in two sides of the supporting frame, the dovetail grooves are movably connected with four sliding supports symmetrically arranged along the supporting frame; a connecting rod support penetrates the two through holes opened in the top of the sliding support, the top end of the connecting rod support is hinged with a long connecting rod; the supporting frame is provided with a worm gear mounting support, the worm gear mounting support is equipped with worm gears and worms through rotating shafts, and the worm is fixedly connected with an output shaft of a worm motor.

Abstract: An automatic alignment system of a robot manipulator is provided. The automatic alignment system includes a signal transmission module and a controller. The signal transmission module includes a first signal receiving and transmitting element and a second signal receiving and transmitting element. The first signal receiving and transmitting element is mounted on the robot manipulator. The second signal receiving and transmitting element is disposed neighboring to a target workpiece. A signal is transported between the signal receiving and transmitting elements. The controller is electrically connected with the signal transmission module for receiving the signal outputted from the signal transmission module. The controller acquires a relative position between the first signal receiving and transmitting element and the second signal receiving and transmitting element according to a variation in the signal.

Abstract: A welding electrode apparatus may be mounted to a robot that presents it to a workpiece along a pre-programmed path conforming to the surface of the workpiece. The welding electrode apparatus has a first drive for rotating the welding electrode about its own axis. The electrode handle has a second rotating drive having an imbalance to impose vibration on the welding rod transverse to the axis of the rod. The first drive may turn relatively slowly; the second drive may turn more quickly. The first drive has an electrical pickup by which to carry DC power to the electrode. The two rotating drives impose two frequencies of vibration into the apparatus, causing a make-and-break contact for low power spark deposition, while at the same time causing the electrode to bounce and impact the surface. The forward end of the apparatus may include a cowling and a delivery line to provide shielding gas to the electrode.

Abstract: A device for moving at least one cutting and welding arrangement able to cut, then weld a tail of a first metal strip to a head of a second metal strip, includes at least one first carriage holding at least one welding head. The first carriage is movable over a guide path following a first course across a transverse strip region. At least one second carriage is movable separately from the first carriage and holds a cutting head. The second carriage is movable on a guide path following a second course. The welding head is used exclusively for a welding mode, the second carriage is used exclusively for a cutting mode and the two carriages have parked positions on either side of the tail and head widths of the strips. A welding method which is associated with the device is also provided.

Abstract: A method of assembling a secondary component to a primary component comprises grasping a primary component with a first end-of-arm tool, wherein the first end-of-arm tool is attached to a first robot arm and grasping a secondary component with a second end-of-arm tool, wherein the second end-of-arm tool is attached to a second robot arm. Moving the primary component to an interfacing position, wherein interfacing surfaces on the primary component are presented at a proper position and orientation for the secondary component to be attached thereto. Moving the second end-of-arm tool to bring the secondary component into engagement with the interface surfaces of the primary component, and forming a joint between the primary component and the secondary component with a joining tool attached to a joining robot arm.

Abstract: A numerical controller includes a movement plane acquisition unit configured to accept designation of a movement plane in a machine coordinate system, a machine coordinate conversion unit configured to convert a coordinate value in the machine coordinate system into an image coordinate system, an image coordinate conversion unit configured to convert a coordinate value in the image coordinate system into the machine coordinate system, an operation target position acquisition unit configured to acquire position information on an operation target, an operation icon display unit configured to display an operation icon corresponding to the position information, a slide position acquisition unit configured to acquire a slide position, a movement amount calculation unit configured to calculate an axial movement amount, and an axial movement unit configured to move the operation target according to the axial movement amount.

Abstract: The present invention relates to systems for generating an arc fault in an electrical circuit, as well as methods thereof. In particular, the system provides a platform that can produce an arc discharge in a controlled manner, while measuring various parameters to characterize that discharge. Such parameters include voltage measurements, current measurements, optical spectroscopy measurements, electron temperatures, and/or plasma temperatures.

Abstract: A method of programming at least one robot by demonstration comprising: performing at least one demonstration of at least one task in the Held of view of at least one fixed camera to obtain at least one observed task trajectory of at least one manipulated object, preferably at least one set of observed task trajectories; generating a generalized task trajectory from said at least one observed task trajectory, preferably from said at least one set of observed task trajectories; and executing said at least one task by said at least one robot in the field of view of said at least one fixed camera, preferably using image-based visual servoing to minimize the difference between the executed trajectory during said execution and the generalized task trajectory.

Abstract: A robot-supported grinding method is described. In accordance with one example of the invention, the grinding method includes contacting a surface of a workpiece with a rotating grinding tool, whereby either the grinding tool or the workpiece is mechanically coupled to the tool center point (TCP) of a manipulator. The method further includes controlling an actuator that influences the grinding tool or the workpiece to produce a grinding force between the grinding tool and the workpiece, as well as measuring an actual deflection of the actuator. The rotational velocity of the grinding tool is adjusted depending on the measured actual deflection of the actuator and a reference deflection of the actuator.

Abstract: Alignment modules attached to a robotic tool changer assist spatial orientation and alignment of a robot arm relative to a robotic tool for location training. A three-axis spatial orientation sensor is first attached to an alignment module affixed to a tool unit. The sensor is “zeroed,” or calibrated to the spatial orientation of the tool unit. The sensor is transferred to a corresponding surface of an alignment module affixed to a master unit. The orientation of the robot arm is adjusted to eliminate sensor error signals indicating deviations from the zeroed orientation of the tool unit. An optical signal, such as a cross line laser beam, is then projected between the alignment modules. The x- and y-axis position of the robot arm is adjusted to align the optical signal with alignment markings. When the master and tool units are aligned, the robot arm is advanced in the z-axis direction until the master unit abuts the tool unit.

Abstract: A welding operation is performed utilizing a rotating arc resulting from movement of a welding electrode in a welding torch. Workpiece fit-up is determined as the weld progresses, such as via a camera and image analysis. In the event that fit-up changes, such as by the development of gaps between the workpieces, one or more parameters of the system may be altered, such as the geometry of the electrode movement, the travel speed, the wire feed speed, the weld power applied to the electrode, and so forth. The technique may be automated, such as for accommodating welding via welding robots.

Abstract: In one embodiment, a method of evaluating a battery module includes: applying a tension load to a test coupon, the test coupon including a segment of a battery terminal connected to a segment of an interconnector busbar; and measuring electrical resistance across the segments of the test coupon. In certain instances, the method further includes applying a different, second tension load to the segments of the test coupon and repeating the measuring of electrical resistance. In certain other instances, the method further includes forming a plot between various values of electrical resistance as a function of various tension loads.

Abstract: A system for visualizing process errors that occur in connection with processing a workpiece by means of a process tool and an industrial robot moving the tool along a path in relation to the workpiece during the processing. The system is configured to store information on process errors and information on where on the robot path the error occurred upon detecting the process errors and to present a visualization of the robot path and the position of the stored errors in relation to the robot path.

Abstract: A mechanical system for automatic guiding of one or more torches of a welding unit in a groove delimited by chamfered end surfaces of two metal parts to be welded together, including a main carriage moving along a stationary guide relatively parallel to the groove, a secondary carriage that is connected to the main carriage by a hinged linking assembly and that includes a torch supporting unit and a guiding device including bearing members in contact with the surfaces of the metal parts bordering the groove and sensing members that enter the groove. The hinged linking assembly includes three pivoting axis.

Abstract: A system includes a welding torch assembly configured to establish a welding arc between an electrode and workpieces separated by a narrow groove utilizing power from a power supply while moving the electrode radially in a desired pattern by a motion control assembly within the welding torch assembly. The welding torch assembly includes a nozzle through which the electrode is fed and within which the electrode is radially moved.

Abstract: One embodiment of the present invention relates to a system for buried-arc welding with thru-the-arc seam tracking. Another embodiment of the present invention relates to a method for buried-arc welding with thru-the-arc seam tracking.

Abstract: In a method for controlling pulse arc welding where an arc is created between a wire and a base material, a pulse waveform different from the pulse waveform for steady-state welding is outputted when a predetermined time has passed since short-circuit welding control was started at arc start, and after a sufficiently large melt pool is formed, the pulse waveform for the steady-state welding is outputted. This reduces the generation of spatters after an arc is created and until the arc is stabilized.

Abstract: Methods and systems are provided for using optical interferometry in the context of material modification processes such as surgical laser or welding applications. An imaging optical source that produces imaging light. A feedback controller controls at least one processing parameter of the material modification process based on an interferometry output generated using the imaging light. A method of processing interferograms is provided based on homodyne filtering. A method of generating a record of a material modification process using an interferometry output is provided.

Abstract: A welding line can be rapidly extracted using three-dimensional CAD data constituted of a large number of line sections containing welding line candidates. The method of choosing a welding line includes: a step (S110) of specifying one face (first face constituting a reference face) from two faces of a member where a welding line is to be formed; a step (S120) of specifying the other face (second face constituting a groove face) from the two faces of the number where a welding line is to be formed; a step (S130) of extracting an edge line; a step (S140) of selecting an edge line zone where welding is possible; a step (S150) of creating welding line information by unifying edge lines where welding is possible; and a step (S160) of correcting welding line information in accordance with the groove shape.

Abstract: A system for improved manual welding is provided. The system includes a novel nozzle for maintaining fixed electrode-work piece distance, sensors such as optical, temperature, ultrasound and the like for providing feedback on weld quality, and indicators such as a video screen indicating actual vs. desired weld characteristics (such as speed, size, position, and the like). Furthermore actuators in the device allow for control over movement either perpendicular to the weld seam, parallel to it, or both. For example an eccentric axis allows for automation of the welding weave motion.

Abstract: An arc welding apparatus includes a lifting motor. A speed adjustment circuit controls the lifting motor such that the rising speed of the welder decreases if a current of the welding power source is smaller than a set value, or increases if the value of the current is larger than the set value. A voltage adjustment circuit controls the welding power source such that the voltage increases if the number of times that the voltage falls below a determination voltage is larger than a set number of times or if periods for which the voltage remains below the determination voltage are longer than a set time, or decreases if the number of times that the voltage falls below a determination voltage is smaller than a set number of times or if periods for which the voltage remains below the determination voltage is shorter than a set time.

Abstract: A method includes receiving data corresponding to a weld waveform that is generated during a welding operation and determining, based on the received data corresponding to the weld waveform, an overshoot voltage for the welding operation that exceeds an expected voltage level. The method further includes receiving data corresponding to a measured stud voltage and calculating, based on the overshoot voltage and the measured stud voltage, a stud voltage for the welding operation. The method also includes controlling at least one parameter of the welding operation based on the stud voltage for the welding operation.

Abstract: An embodiment of a robotic welding apparatus comprises a robot having a welding torch and a base, where the base rotates about an axis of rotation. The embodiment further comprises an indexing table including a plurality of workpiece holding positions, where the indexing table is fixedly connected to the base substantially at a center position of the indexing table, and where the indexing table rotates about the axis of rotation.

Abstract: The present disclosure provides a welding system capable of detecting a size of a welding material and automatically implementing appropriate arc starting parameters. The welding system includes a welder, a welding torch, and a sensor, in which the sensor is configured to detect the size of the welding material, directly or indirectly. The welder is automatically configured to produce an arc having the arc starting parameters determined from the size of the welding material detected by the sensor. The present disclosure decreases operational error by automatically changing arc starting parameters and/or welding parameters based upon a change in welding material size, rather than requiring an operator to manually change the arc starting parameters and/or welding parameters.

Abstract: An arc welding robot control system of the present invention includes memory devices, controlling devices, a welding condition changing position calculating device, a weaving operation controlling device that outputs a signal of completion of one weaving cycle every time when a welding torch completes to perform one weaving cycle of a predetermined movement pattern, a welding condition calculating device for calculating to-be-changed welding conditions, and a welding condition changing device that changes welding conditions of an arc welding robot, based on to-be-changed welding conditions, every time when a signal of completion of one weaving cycle is input. With this configuration, it enables a continuous change of welding conditions and a copying arc welding with high accuracy even in the case in which the arc welding robot performs a weaving operation.

Abstract: A system and method for providing multi-mode control of an ultrasonic welding system. In one embodiment, the control modes include the energy of the weld, the time of the welding process and the compression displacement of the parts being welded during the welding process. The method includes providing thresholds for each of the modes, and terminating the welding process after the threshold for each mode has been reached, the threshold for more than one mode has been reached or the threshold for one of the modes has been reached. The welding control can be either open-loop or closed-loop, where the open-loop process provides the mode thresholds and once one or more of those thresholds is reached the welding process is terminated. The closed-loop control provides feedback of the weld energy and/or the compression displacement so that the weld power and/or weld pressure can be increased or decreased accordingly.

Abstract: A weld head angle adjustment system includes a weld head, a base unit, and an angle adjustment mechanism. The weld head includes a welding torch and an arc voltage control assembly that is operatively connected to the welding torch and configured to move the welding torch. The angle adjustment mechanism is operatively connects the weld head to the base unit and is designed to change an angle between the welding torch and the base unit while ensuring that an orientation between the welding torch and the arc voltage control assembly remains fixed as the angle between the welding torch and the base unit is changed. In some embodiments, the angle adjustment mechanism includes a bolt that connects the weld head to the base unit. The angle adjustment mechanism is configured such that the angle between the welding torch and the base unit can be adjusted when the bolt is in a first state and the angle is fixed when the bolt is in a second state.

Abstract: A tractor unit mounting mechanism includes a clamping assembly that is configured to engage and disengage the tractor unit to a track guide. The tractor unit includes at least two pivot blocks with each pivot block including at least one rolling device and a locking mechanism. The at least one rolling device is designed to roll on a rail of the guide track. The clamping assembly is configured to operatively connect the at least one rolling device with the guide track when the tractor unit is engaged. The pivot block is configured to pivot such that the at least one rolling device can conform to a profile, e.g., a concave profile, convex profile, a straight profile, or any combination thereof, of the guide track as the tractor unit is engaging the guide track. The locking mechanism, e.g., a bushing, is configured to prevent the pivot block from pivoting once the tractor unit has engaged to the guide track.

Abstract: An arc welding system for welding materials of different electric conductivity has a robotic arm and a welding torch with a nozzle, disposed on a first end of the robotic arm, for applying an amperage to a wire supply at the nozzle. The arc welding system has a controller for controlling direction and speed of movement of the robotic arm and for controlling the amperage applied by the welding torch.

Abstract: The movement of a single electrode by a welding robot system (a) is followed by the movement of a single electrode by another welding robot system (b). By constructing the single electrode of one welding robot system (a) and the single electrode of the another welding robot system (b) to perform welding simultaneously in the same direction on the same welding line, the degrees of freedom of the robots are not restricted, the available welding range becomes wide, and constraints on the posture of the robots are eliminated, compared with a case where a tandem welding-dedicated torch is used.

Abstract: The present invention relates to a TIG welding machine. The TIG welding machine according to the present invention includes: a torch unit (400) disposed with an electrode (632), a wire (634) and a weaving unit (410); a welding posture control unit (100) for controlling a welding posture by rotating the torch unit (400) vertically and horizontally so as to precede the torch unit (400) with reference to the advancing direction of the torch unit (400); a weld line tracing unit (200) mounted to the welding posture control unit (100) and detecting the placed state of a base metal for welding so as to trace a weld line; and a torch transfer unit (300) for moving the torch unit (400) based on the information of the weld line which has been traced in the weld line tracing unit (200).

Abstract: An invention is provided which comprises a tandem welding carriage having at least two welding carriages coupled to each other. Each of the welding carriages having a base, rear wheel assemblies disposed at one end of the base, and welding attachment portions. The two welding carriages are coupled to each other using a coupling member, and each welding carriage is carrying an arc welding device and/or spool to allow for tandem arc welding.

Abstract: A method of automatically controlling welding using a welding apparatus having a heat-source and a wire feed. The method includes: setting at least one welding parameter; setting a stable wire interaction position where the wire fed by the wire feed interacts with the heat generated by the heat-source so as to produce an acceptable weld; and monitoring the wire interaction position during welding. If the wire interaction position deviates from the stable wire interaction position by more than an allowable tolerance at least one welding parameter is automatically altered to return the wire interaction position to within the allowable tolerance of the stable wire interaction position. The invention also relates to an apparatus for carrying out the method.

Abstract: A suggested welding crane for welding of objects comprises an arm, a stand and a welding head. The arm includes at least a first and a second segment, which are arranged with their length axes essentially parallelly and are telescopically movable along their length axes in relation to each other so that at least a first segment of said segments at least partly slides into at least a second segment of said segments. The welding head is arranged in a distal end of an outermost segment of the arm while an innermost segment of the arm is suspended in the stand. A linear guide is arranged on at least a first segment of said segments. A co-operating part of said at least one linear guide is arranged on at least a second segment of said segments, wherein the at least one linear guide is adapted to provide said telescopic movement.

Abstract: A mechanical system for automatic guiding of one or more torches of a welding unit in a groove delimited by chamfered end surfaces of two metal parts to be welded together, including a main carriage moving along a stationary guide relatively parallel to the groove, a secondary carriage that is connected to the main carriage by a hinged linking assembly and that includes a torch supporting unit and a guiding device including bearing members in contact with the surfaces of the metal parts bordering the groove and sensing members that enter the groove. The hinged linking assembly includes three pivoting axes.

Abstract: An arc welding method which makes a welding torch or welding object which is supported by a robot move and performs arc welding using a welding start point on the welding object as a start point, which method includes a step of feeding a weld wire to the welding start point, a step of stopping the feed of the weld wire after a tip of the weld wire contacts the welding object, a step of supplying a pre-arc welding power in a range where no arc is generated to input heat to the weld wire and the welding object, a step of supplying an arc generating welding power which causes generation of an arc while retracting the weld wire, and a step of supplying main welding power to perform main welding and which method reduces occurrences of spatter at the time of arc start.

Abstract: A method for joining together at least two sheets with a tool controlled by an industrial robot and including a first arm and a second arm that are mutually movable in relation to each other. An actual position of the sheets is detected by bringing one of the arms to sense the actual position of the sheets. The distance between an ideal position and the actual position is calculated and the actual position of the tool is moved the calculated distance, whereafter the sheets are joined together.

Abstract: A positioning device (13) for producing a light signal (32) to position a robot tool (2) relative to a workpiece (14) is provided. The positioning device (13) comprises a frame (16) and a pair of light sources (22, 24) mounted at the free end of the frame and arranged to direct a pair of light beams (28, 30) therefrom in converging directions which intersect with each other and provide a light signal (32) at a predetermined distance from the free end of the frame (16). The positioning device (13) can include two pairs of light sources to generate two pairs of intersecting light beams (28, 30; 29, 31). The two pairs of light sources can be arranged so that the two pairs of light beams (28, 30; 29, 31) are located substantially 90 degrees apart.

Abstract: Embodiments of the invention are directed to a system arrangement and method for the optical control of the work result of a tool and/or guiding the tool with all-around view, wherein tool and workpiece are moved relative to each other, along a straight path or, particularly, on curved path. According to an aspect, the tool is positioned centrically in the image field and a tool support is located centrically in the beam path or in a pupil of the optics, or in an optical vicinity of the pupil. An arrangement for 3D analysis is also indicated. Advantageously, only one camera need be used, providing a lean design of viewing and illumination, and usable under cramped space conditions. Guiding, processing and control are possible in a single operation using a single camera. Methods for, e.g., applying viscous masses, welding, deburring, and related applications are also disclosed.

Abstract: An arc welding robot control system of the present invention includes memory devices, controlling devices, a welding condition changing position calculating device, a weaving operation controlling device that outputs a signal of completion of one weaving cycle every time when a welding torch completes to perform one weaving cycle of a predetermined movement pattern, a welding condition calculating device for calculating to-be-changed welding conditions, and a welding condition changing device that changes welding conditions of an arc welding robot, based on to-be-changed welding conditions, every time when a signal of completion of one weaving cycle is input. With this configuration, it enables a continuous change of welding conditions and a copying arc welding with high accuracy even in the case in which the arc welding robot performs a weaving operation.

Abstract: A method and system are provided for a trackless autonomous crawling all-position arc welding robot with wheels and permanent magnet caterpillar belts. A sensor detects a welding seam position and transmits the position to a tracking controller. The tracking controller sends instructions to a welding torch which may be moved in generally horizontal and vertical directions based upon the instructions. Additionally, a crawler drive controller receives the welding seam position and sends a control signal to an AC servomotor drive that positions the crawler based on the control signal.

Abstract: An invention is provided which comprises a tandem welding carriage having at least two welding carriages coupled to each other. Each of the welding carriages having a base, rear wheel assemblies disposed at one end of the base, and welding attachment portions. The two welding carriages are coupled to each other using a coupling member, and each welding carriage is carrying an arc welding device and/or spool to allow for tandem arc welding.

Abstract: A method and a device for providing feedback on weaving parameters in connection with programming an industrial robot provided with a tool to perform a weaving movement. The device includes a simulation unit receiving the weaving parameters and on basis thereof performing a simulation of the weaving movement with a mathematical model of the weaving movements, a graphical unit receiving the calculated trace and on basis thereof producing a graphical representation of the weaving movement, and a display unit displaying the graphical representation of the weaving movement.

Abstract: A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.