Patent ID: 6246476
Filing Date: 2001-06-12
Classification: B25J,G05B

Abstract:
A method for controlling the movement of a moveable first object relative to a second object having predetermined characteristics, to enable a part of the first object to engage a part of the second object, the method employing an optical sensing system to sense the predetermined characteristics of the second object, the method comprising the steps of:storing the predetermined characteristics of the second object in a memory device;moving one of the first object and the second object with respect to the other from a mutually spaced apart position into engagement with one another employing the steps of:continuously sensing the predetermined characteristics of the second object by the optical sensing system of the first object;comparing the predetermined characteristics in memory with the sensed predetermined characteristics;sensing a distance between the parts to be engaged of the first object and the second object;sensing the direction from the first object to the second object;calculating a desired path of approach between the first and second objects; andcontrolling the relative movements between the first and the second objects in relation to a current distance between those objects and an established deviation from the desired path of approach.