the problems of the composition of velocities

jerry-licao

Dear all: Recently,I am working on the conveyor tracking issues and i have some questions in the process. so I want to have a discuss: 1. Any time,the robot's actual speed V is the compositon of the conveyor velocity V1 and Robot TCP speed v2 (when the conveyor is still). 2. We do the conveyor base calibration to have the direction of the v1, and the encoder give the data of the velocity of the conveyor. 3. We stop the conveyor and do the teach of the robot program, we get the v2 of the robot. 4. When we run the system, the robot will follow the conveyor and do the work. question: How does the robot relize the compositon of the movement ? I think the function is included in the option "conveyor tracking". I have an application, the robot is moving along X direction with V1, and at the same time the robot will have a swing in the Y direction, I want to just give the amplitude and frequency of the swing, and the robot will finish the composition of movement, how to program it ? Anyone have a good idea ? Thanks

jerry-licao

AnyOne has the idea?