Back to results
US 4,150,329 AGranted
Method and means in an industrial robot for the generation of a complex movement
AssigneeASEA Aktiebolag
InventorLars Dahlstrom
Life of this patent
Estimating the term…
Loading patent…
Loading patent…
AssigneeASEA Aktiebolag
InventorLars Dahlstrom
Estimating the term…
A method and apparatus for moving a device, such as a robot arm, through complex movements. The complex movement is divided into a principal movement between two defined end points A, B. Superposed on the principal movement is a closed loop series of subordinate movements (at least two subordinate movements) which loop is executed, at least once, during the principal movement. Data defining the end points of both principal and subordinate movements is stored in a storage device. Both principal and subordinate movements are divided into a number of equal incremental principal and subordinate movements. The sum of the principal and subordinate incremental movements is a composite incremental movement. Signals related to each composite incremental movement are provided to a drive means for moving the device.
Apparatus for moving a controlled device over a predetermined complex path comprising a principal movement between end points A B of said path as well as a superposed movement consisting of a closed loop including successive displacements between points N.sub.1, N.sub.2. . .N.sub.n, where N.sub.1 and N.sub.n are identical and the subscript n has a value of at least 3, said closed loop superposed movement performed at least once during said principal movement, said apparatus comprising:
A method for moving a controlled device over a complex path comprising a principal movement between end points A, B of said path as well as a superposed movement consisting of a closed loop including successive displacements between points N.sub.1, N.sub.2. . .N.sub.n, where N.sub.1 and N.sub.n are identical and the subscript n has a value of at least 3, said closed loop superposed movement performed at least once during said principal movement, said method comprising the steps of:
Dependencies are inferred from the claim text.