Computer assisted manipulator training

A microcomputer based system was developed to allow static training of a manipulator for executing tasks on a moving conveyor line. Training can be conducted with the conveyor positioned wherever the operator finds most convenient. Training data is automatically projected for execution time. Known delays and synchronization requirements are automatically accounted for. Not all points need to be trained. (For example, only the end points of a straight line are necessary.) Easy path editing is provided. Recalculation of later data points is automatic.