Method of moving and orienting a tool along a curved path
US4835710A · kind A · utility
105Cited by
9References
25Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jul 17, 1987 |
| Grant date | May 30, 1989 |
| Priority date | — |
| Expiry date | Jul 17, 2007 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45104
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method of positioning a tool along a circular arc. The tool is carried by an automaton which is moved through a teaching phase during which it is taught coordinates and wrist orientation angles for three reference points. The method then proceeds into a work phase in which calculations are performed to determine coordinates and wrist angles for a series of work points spaced along the circular arc defined by the three reference points. Thereafter the automaton is direction to position the tool at the calculated coordinates and orientations.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.