Claims
- 1. A method of correcting the travel path of an oscillating robotic welding torch, said robotic welding torch tracing a groove line defined by an upper and lower plate and oscillating laterally relative said groove line to define a center of oscillation and opposite first and second ends of oscillation, said fist end of oscillation extending towards the upper plate and said second end of oscillation extending towards the lower plate, said robotic welding torch having a welding current which has a value related to a distance between the robotic welding torch and the upper and lower plate, said method comprising the steps of:
- extracting a current component signal of the welding current having a frequency which is twice an oscillating frequency of the robotic welding torch; and,
- determining a travel path adjustment of the robotic vehicle according to a phase deviation between the current component signal and an oscillating frequency signal of the oscillating robotic welding torch.
- 2. A method as recited in claim 1, further comprising the step of adjusting the travel path of the robotic vehicle towards the lower plate when said phase deviation is substantially equal to one-quarter wavelength of the oscillating frequency signal.
Priority Claims (2)
Number |
Date |
Country |
Kind |
62-329720 |
Dec 1987 |
JPX |
|
63-38074 |
Feb 1988 |
JPX |
|
CROSS REFERENCE TO RELATED APPLICATIONS
This application is a Divisional application of Ser. No. 07/291,304, filed Dec. 28, 1988 now U.S. Pat. No. 4,937,426.
US Referenced Citations (1)
Number |
Name |
Date |
Kind |
4556777 |
Sarugaku et al. |
Dec 1985 |
|
Divisions (1)
|
Number |
Date |
Country |
Parent |
291304 |
Dec 1988 |
|