Method of moving a tool along a curved path

Details Method of moving a tool along a curved path Method of moving a tool along a curved path

G - Physics

05

B

341/102

G05B 19/41 (2006.01)

Patent

CA 1329425

Abstract of the Disclosure A method of positioning a tool along a circular arc. The tool is carried by an automaton which is moved through a teaching phase during which it is taught coordinates and wrist orientation angles for three reference points. The method then proceeds into a work phase in which calculations are performed to determine coordinates and wrist angles for a series of work points spaced along the circular arc defined by the three reference points. Thereafter the automaton is direction to position the tool at the calculated coordinates and orientations.

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