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TWODIMENSIONAL TACTILE TRACING SYSTEM
ALTERNATIVE WELD GUIDANCE SYSTEM CONFIGURATIONS
THREE AXIS WELD GUIDANCE SYSTEM
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algorithm searches forward allows the welding angle axis weld guidance control algorithms control loop current position data points data stack described in Section desired position equations Figure FLAG BYTE flag is set flowchart gap sensing geometry head and probe head is reversed illustrates initial search phase input length rotary link microprocessor MPOINT operating parameters point of contact points representing POSITION OF WELDING probe ball probe deflection axes PROBING TREND CONTROL proper welding relationship RESTART BIT rotary axis rotate RSQRP search backward search procedure servo drive servo motor stack pointers stored strain gage STRSTP bit subroutine surface normal surface or seam system coordinate frame tactile tracing probe tactile tracing system three axis weld tracing direction variable length rotary vector vertical deflection weld guidance system weld joints welder control welding flags welding gun welding head orientation welding head position welding head velocity welding robots welding speed welding system WLDD bit