Manipulator with controlled path motion

Details Manipulator with controlled path motion Manipulator with controlled path motion

B - Operations, Transporting

25

J

342/10

B25J 9/00 (2006.01) B25J 9/18 (2006.01) G05B 19/41 (2006.01)

Patent

CA 1202101

Abstract of the Disclosure An articulated manipulator and control are provided for producing controlled motion of a function element carried by the manipulator. The motion is defined by input signals specifying with respect to a rectangular coordinate system the positions and path velocities therebetween of a tool centerpoint associated with the function element. The control interpolates intermediate points along a predetermined path between any two positions. The intermediate points are produced in accordance with a fixed period of interval and incremental velocity values instantaneously variable with each interval. Continuous functions of acceleration and deceleration are produced to vary the velocity in accordance with the programmed description of motion. Further velocity adjustment is permitted in accordance with unprogrammed variations of a preselected parameter.

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