An Algorithm for Seam Tracking Applications.

Abstract

Seam tracking is currently accomplished by special features of the robot and a priori knowledge of seam geometry. This paper demonstrates the feasibility of tracking a seam in real-time. A general-purpose seam tracking algorithm is developed for implementation on a robot with six degrees-of-freedom. The algorithm is motivated by a physical interpretation of the t sub 6 and dt sub 6 matrices, and the assumption that three dimensional seam data are available. In the past, dT sub s matrix and inverse Jacobian solutions have been used to compute the differential changes in the joint angles. By using the inverse Jacobian , an iterative algorithm is introduced to compute both large and small changes in the joint variables. The versatile seam tracking algorithm can be applied to a multitude of robotic seam tracking activities such as gluing, surface grinding and flame cutting. (Author)

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1984
Accession Number
ADA141705

Entities

People

  • C. P. Neuman
  • F. B. Prinz
  • P. K. Khosla

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Arc Welding
  • C Programming Language
  • Cartesian Coordinates
  • Classification
  • Computations
  • Computer Programming
  • Computers
  • Control Systems
  • Geometry
  • Nomenclature
  • Programming Languages
  • Robotics
  • Simulations
  • Simulators
  • Three Dimensional

Readers

  • Artificial Intelligence
  • Graph Algorithms and Convex Optimization.
  • Metallurgy

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy