METHOD OF CONTROLLING A ROBOT FOR SMALL SHAPE GENERATION
摘要
<p>A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.</p>
申请公布号
WO2009102767(A3)
申请公布日期
2009.10.08
申请号
WO2009US33763
申请日期
2009.02.11
申请人
FANUC ROBOTICS AMERICA, INC.;SUN, YI;MCGEE, H., DEAN;TSAI, JASON;AKEEL, HADI