Method and system for estimating robot tool center point speed
AssigneeFANUC Robotics North America, Inc.
InventorsH. Dean McGee, David W. Osborn, John D. Butkiewicz
Life of this patent
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Abstract
A method and system is disclosed for estimating a speed of a robot tool center point at a specified time. The method includes the step of receiving an input signal representing the specified time for which the speed estimate is desired. The method also includes the step of processing individual motion segment data to create a blended Cartesian velocity vector. The individual motion segment data represents at least one robot motion segment. The method finally includes the step of transmitting an output signal based on a scalar magnitude of the blended Cartesian velocity vector. The output signal represents the speed of the robot Tool Center Point at the specified time.
Claims20
In a system including a robot controller and a robot tool center point speed estimator, a method for estimating a speed of a robot tool center point at a specified time, the method including the steps of:
- receiving at the robot tool center point speed estimator an input signal representing the specified time;
- processing at the robot tool center point speed estimator individual motion segment data representing at least one motion segment based on the specified time to compute a blended Cartesian velocity vector, the blended Cartesian velocity vector approximating actual robot tool center point Cartesian velocity at the specified time;
- transmitting from the robot tool center point speed estimator an output signal based on a magnitude of the blended Cartesian velocity vector, wherein the output signal represents the speed of the robot tool center point at the specified time;
- and
- calculating a control parameter based on the output signal, wherein the control parameter generally relates to rate control of a process located at the robot tool center point.
A system for estimating a speed of a robot tool center point at a specified time, the system including:
- means for receiving at a robot tool center point speed estimator an input signal representing the specified time;
- means for processing at the robot tool center point speed estimator individual motion segment data representing at least one motion segment based on the specified time to compute a blended Cartesian velocity vector;
- means for transmitting from the robot tool center point speed estimator an output signal based on a scala magnitude of the blended Cartesian velocity vector, wherein the output signal represents the speed of the robot tool center point at the specified time;
- and
- calculating a control parameter based on the output signal, wherein the control parameter generally relates to rate control of a process located at the robot tool center point.
Dependencies are inferred from the claim text.