Extended Robot Motion Adjustment Techniques Using a Robotic Teach Pendant
Original Publication Date: 1986-May-01
Included in the Prior Art Database: 2005-Mar-09
During the life of a robotic application it is necessary to adjust motions to accommodate variations that occur in the application due to maintenance of fixtures, changes to the product being built, periodic maintenance of the manipulator and/or controller, etc. This can be a very time-consuming operation with poor results if done through normal teaching procedures. The time spent modifying motions can be greatly reduced by using a function called TOUCH-UP. Once a motion has been modified using TOUCH-UP, a related logical group of motions can be modified in minimum time. A method to minimize the amount of time required to modify the initial motion is described. The user has two basic modes through which the application can be run in TOUCH-UP. These are Play (PLY) and Step (STP) modes.