Object oriented motion system

US6341246B1 · kind B1 · utility

Assignee

• KUKA Development Laboratories, Inc. · US

Inventors

• Michael Gerstenberger · Lake Orion, US
• Scott Greig · Edmonton, CA
• David M. Martin · Lansdale, US
• Khalid Mirza · Rochester Hills, US
• El-Houssaine Waled · Windsor, CA

Key dates

• Filing date: Mar 26, 1999
• Grant date: Jan 22, 2002
• Expiry date: Mar 26, 2019

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/49384
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

An object oriented motion system for controlling the movement of a robotic manipulator is presented. The motion system includes a trajectory generator object for producing a stream of machine joint commands. A kinematics object is operable to provide a set of robotic arm specific functions for the trajectory generator object. A servo object provides an interface to the servo system. The stream of machine motor commands are converted by the servo object to a stream of signals that drive the servo system, thereby controlling the trajectory of the robot arm.