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Trajectory path point position detection method e.g. for programming industrial robot, uses manual movement of robot tool along trajectory with force/moment sensor signals converted into movement control signals
Trajectory path point position detection method e.g. for programming industrial robot, uses manual movement of robot tool along trajectory with force/moment sensor signals converted into movement control signals
The detection method has a tool (6) manually moved along a trajectory (2) extending along a workpiece (3) via a robot (4) with an attached force/moment sensor (7) providing signals which are converted into control signals for movement of the robot, with simultaneous detection of the tool position along the trajectory during its movement. An Independent claim for a device for detecting the position of path points along a trajectory along a workpiece is also included.
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