Method and apparatus for oscillating a tool carried by a manipulator
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United States of America Patent
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Jan 6, 1987
Grant Date -
N/A
app pub date -
Oct 15, 1984
filing date -
Oct 15, 1984
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A method and apparatus are provided for providing for controlled oscillation of a tool centerpoint associated with a function element carried by manipulator simultaneously with motion of a workpiece feature relative to a predetermined location. The tool centerpoint describes a predetermined pattern relative to the workpiece feature as a result of the combined motion. Tool centerpoint oscillation occurs in an oscillation path between two extremes determined by pattern parameters defining pattern amplitude measured with respect to a pattern longitudinal axis. The direction of the oscillation path is defined by input signals representing angles measured relative to a rectangular coordinate system used for defining the predetermined location. The rate of tool centerpoint motion is defined by an input signal representing velocity.
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