Real time tracking control for taught path robots

Abstract From the Canadian patent

Abstract of the Disclosure, A real time steering capability is provided to permit robot motion to be modified continuously in three dimensions as the robot is moving along a taught path. An arc welding robot or other taught path robot has a sensor located on the robot arm to sense the position of a desired path. The tracking control provides real time steering commands to the standard robot taught path and are calculated based on maintaining a constant preprogrammed velocity along the desired path and coordination with the taught path. Offsets to the robot taught path are computed in a manner that allows the robot to smoothly follow the actual path as measured by the look ahead path sensor. …