Method of controlling a robot for small shape generation
US8820203B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 11, 2009 |
| Grant date | Sep 2, 2014 |
| Priority date | — |
| Expiry date | Dec 17, 2030 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T83/869
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.