Guidance of Multiple Manipulators for Three-dimensional Inspection and Measurement Using Touch-trigger Probes |
Common terms and phrases
3-D joystick axis bicubic surface patch boundary plane calculated camera matrix command processor computer graphics computer graphics terminal constant velocity tracing control computer coordinate measuring machine coordinate system cross product data points deflection device dimensional direction display end-effector execution Figure file storage field floppy disk gripper guidance points helix incremental input inspec inspection file inspection instruction inspection process inspection sequence file inspection simulation instruction interpreter instruction storage field interactively interface joint linear positioning link variables manipulator manipulator's mathematical planes mathematical surface measurement data base mode mold normal vector operator orientation parameters patch surface point of contact point X1 point-to-point preter probe ball probe tip coordinate radius robotic arm routine shown in Fig specified stepper motor stepper motor steps surface normal Table three-dimensional joystick tion touch trigger probe tracing function tracing planes tracing sphere unit vector unit vector pointing δυ