Manipulator with adaptive velocity controlled path motion

Details Manipulator with adaptive velocity controlled path motion Manipulator with adaptive velocity controlled path motion

B - Operations, Transporting

25

J

342/10, 341/100

B25J 9/00 (2006.01) B25J 9/18 (2006.01) G05B 19/02 (2006.01) G05B 19/416 (2006.01)

Patent

CA 1203311

Abstract of the Disclosure A manipulator and control are provided for moving a function element carried by the manipulator in accordance with programmed input signals defining positions and path velocities therebetween of a tool centerpoint associated with the function element. The path velocity is made susceptible of variation in accordance with unprogrammed variations of a parameter manually or automatically produced. Motion of the tool centerpoint is effected by interpolation of intermediate point along a predetermined path between any two preprogrammed positions. Each intermediate point is displaced from its predecessor by an increment computed in accordance with a fixed increment interval period and an instantaneously variable increment velocity. Incremental velocity values are computed selectively in accordance with a simple function relating the variable parameter and velocity and in accordance with the preprogrammed definition of motion.

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