Position control for robotic working arm with damage protection for workpieces - has sensors to provide position dependent signals and to monitor pressure on tools

摘要

The robotic arm has one-or more sections and a tool holder. The tool is moved in a programmed direction to the workpiece while a sensor monitors the pressure applied by the tool on the workpiece. The sensor also provides a position control signal. The process controller moves the tool in a controlled manner to minimise damage e.g. when hitting end stops. For a multi section robotic arm every joint can be fitted with a sensor, with the signals combined in the controller. This array enables the controller to go through a teaching process to, balance the robotic arm for the processing. ADVANTAGE - Reduced damage risk to workpiece, improved quality control.