A method of determining a radius of a cutting end of a tool for a turning machine using a touch probe is provided. One of the cutting end and the touch probe is movable relative to a reference frame having a first axis and a second axis and having a reference point trackable in the reference frame. The method comprises establishing a first contact point and recording a first coordinate of the reference point on the first axis; establishing a second contact point and recording a second coordinate of the reference point on the second axis; establishing a third contact point and recording a third coordinate of the reference point on the first axis and a fourth coordinate of the reference point on the second axis upon contact; and determining a radius of the cutting end based on the first, second, third and fourth coordinates.

The present disclosure is directed to calibrating position detection for a tool. The tool can use a sensor to detect a first value of a parameter. The tool can use a motor to extend the working member of the tool towards a working surface. The tool can include a base. The tool can detect, with the working member in contact with the working service, a second value of the parameter. The tool can determine a z-axis position of the working member relative to the working surface.

A method of determining a radius of a cutting end of a tool for a turning machine using a touch probe is provided. One of the cutting end and the touch probe is movable relative to a reference frame having a first axis and a second axis and having a reference point trackable in the reference frame. The method comprises establishing a first contact point and recording a first coordinate of the reference point on the first axis; establishing a second contact point and recording a second coordinate of the reference point on the second axis; establishing a third contact point and recording a third coordinate of the reference point on the first axis and a fourth coordinate of the reference point on the second axis upon contact; and determining a radius of the cutting end based on the first, second, third and fourth coordinates.

A method of determining a radius of a cutting end of a tool for a turning machine using a touch probe is provided. One of the cutting end and the touch probe is movable relative to a reference frame having a first axis and a second axis and having a reference point trackable in the reference frame. The method comprises establishing a first contact point and recording a first coordinate of the reference point on the first axis; establishing a second contact point and recording a second coordinate of the reference point on the second axis; establishing a third contact point and recording a third coordinate of the reference point on the first axis and a fourth coordinate of the reference point on the second axis upon contact; and determining a radius of the cutting end based on the first, second, third and fourth coordinates.

A spot welding system comprises a robot which changes a relative position of a spot welding gun and a workpiece. A control device drives an electrode drive motor so that a movable electrode of the spot welding gun abuts on the workpiece, and is formed so as to perform a position detection control which detects a position of the workpiece based on a position of the movable electrode when a state value of the electrode drive motor deviates from a predetermined range. An operation program includes a workpiece detection parameter for performing the position detection control. The workpiece detection parameter is set at each of welding points in the operation program.

A welding system includes a robot having a movable arm. A robot controller is operatively connected to the robot. A welding torch is attached to the robot. A welding power supply is operatively connected to the torch. A teach pendant is in communication with the robot controller and includes a user interface application configured for programming a plurality of welding points of a welding operation performed by the robot, and is configured for programming a workpiece search for a physical location of a workpiece. The user interface application is further configured to receive input of a search start point that is offset from the physical location of the workpiece, and to display a prompt to calibrate the search. Upon receiving user input to calibrate the search, the physical location of the workpiece is automatically detected and a calibrated indication is displayed confirming that the search is currently calibrated.

A method for machining a workpiece using a programmable, numerically controlled machining system by calculating or retrieving a compensated toolpath based on comparing contact position from monitoring a vibration signal from a vibration sensor during probing of workpiece with rotating tool during relative motion therebetween. Contact position is compared to position from predetermined toolpath and wherein the predetermined toolpath extends between initial machining point and end machining point. Machining the workpiece is done along compensated toolpath. The method may be done for repeated passes of machining. The compensated toolpath may include an angle offset to a machining path coordinate system of the predetermined toolpath. Workpiece may be mounted in a multi-axis manipulator of machining system for the probing and machining Multi-axis manipulator may be computer controlled and may be part of a robot.

A force control device mitigates or eliminates impact force overshoot upon contact between a robotic tool and a workpiece. Contact is detected while operating the force control device in a position control mode, according to either of a steady state search method or a transient search method. The force applied to the workpiece upon contact is less than a predetermined setpoint force. Upon detecting contact, the force control device performs a bumpless transfer to a force control mode. In force control mode, the force control device ramps the contact force to the predetermined setpoint. The force ramp may be linear, or along a user-defined trajectory. The stiffness of the force control device is different in position and force control modes, controlled by backpressure in a pneumatic cylinder.

Strapping devices and methods are provided. The strapping device can include a member. The strapping device can include a first actuator coupled with the member to move the member between a first position and a second position. The strapping device can include a sensor to detect an electrical characteristic of the first actuator and to transmit a signal indicative of the electrical characteristic. The strapping device can include a data processing system. The data processing system can receive the signal and determine the member is in contact with a welding component based on the electrical characteristic. The data processing system can determine the second position of the member based on the member being in contact with the welding component. The data processing system can transmit a control signal to the first actuator and a second actuator to initiate a welding cycle with the member at the second position.

Approaches presented herein provide for predictive control of a robot or automated assembly in performing a specific task. A task to be performed may depend on the location and orientation of the robot performing that task. A predictive control system can determine a state of a physical environment at each of a series of time steps, and can select an appropriate location and orientation at each of those time steps. At individual time steps, an optimization process can determine a sequence of future motions or accelerations to be taken that comply with one or more constraints on that motion. For example, at individual time steps, a respective action in the sequence may be performed, then another motion sequence predicted for a next time step, which can help drive robot motion based upon predicted future motion and allow for quick reactions.