Time optimal trajectory for cluster tool robots
US6002971A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | May 28, 1997 |
| Grant date | Dec 14, 1999 |
| Priority date | — |
| Expiry date | May 28, 2017 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40517
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method and apparatus involving the application of an algorithm used for finding the time optimal trajectory for torque limited Industrial Robots, to achieve the operation of Cluster Tool Robots in an improved manner by modifying the applied algorithm through adding two additional constraints, i.e., jerk (the rate of change of acceleration) and the acceleration seen by the load. This modification renders it possible to create a robot arm trajectory that minimizes travel time by minimizing the excitation of uncontrolled resonances and avoiding command of an acceleration that would exceed the force of friction between a substrate holder on the end of the arm and a substrate held thereon by friction.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.