Method for the control of positioning systems

US5129045A · kind A · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Joerg Stelzer · Erlangen, DE
• by Willi Stelzer, heir · Essen, DE
• by Irmgard Stelzer, heir · Essen, DE
• Matthias Rusch · Berlin, DE

Key dates

• Filing date: Mar 29, 1991
• Grant date: Jul 7, 1992
• Expiry date: Mar 29, 2011

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B19/4103
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method for controlling a positioning system, such as an industrial robot, relates to a continuous velocity concatenation of motion sets. In the concatenation range, an auxiliary Cartesian coordinate system (X.sub.H, Y.sub.H, Z.sub.H) is defined and the orientation (R1, R2, R3) of a robot's tool (W) is interpolated by means of roll, pitch and yaw angles relative to that auxiliary coordinate system. The latter is chosen so that the RPY angles B1, B2 and A1 have the value 0 at the concatenation points (UP1, UP2).