Back to results
US 4,456,961 AGranted
Apparatus for teaching and transforming noncoincident coordinate systems
AssigneeTexas Instruments Incorporated
InventorsRobert B. Price, David L. Jones
Life of this patent
Estimating the term…
Loading patent…
Loading patent…
AssigneeTexas Instruments Incorporated
InventorsRobert B. Price, David L. Jones
Estimating the term…
A coordinate system transformation control system for a programmable manipulator having a base referenced by a three dimensional cartesian coordinate system (base frame) includes a hand-held application module for directing the operation of the programmable manipulator. The end effector of the manipulator may be moved to locate a point of origin, a point in the x axis and a point in the x-y plane of another three dimensional cartesian coordinate system (user frame). Other user frames may be selected in the same manner and one user frame may be referenced to another user frame through a mathematical operation. These are known as stacked user frames, all such frames being ultimately referred back to the base frame for operation of the programmable manipulator.
A coordinate system transformation control apparatus for a programmable manipulator having a base referenced by a three dimensional cartesian coordinate system (base frame), actuating means, and end effector, and motive means responsive to the actuating means for causing desired motion of the end effector, comprising:
Dependencies are inferred from the claim text.