发明名称 |
Method of controlling robot movement |
摘要 |
A method of controlling movement of a robot includes moving only the wrist portion about two of the wrist axes to achieve a repeated and cyclical movement, such as a back-and-forth movement of the tool relative to a preselected path. Since only the wrist is moved, the range of available tool positions can be determined. In most instances, the desired position of the tool as it deviates from the path is outside of the range of available tool positions, given that only the wrist will move. The method of this invention includes determining a target position within the range of available positions that best corresponds to the desired position of the tool. A unique inverse kinematics solution, which includes fixing one of the wrist axes, is used to determine the wrist orientation required to place the tool into the target position.
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申请公布号 |
US6064168(A) |
申请公布日期 |
2000.05.16 |
申请号 |
US19980039095 |
申请日期 |
1998.03.13 |
申请人 |
FANUC ROBOTICS NORTH AMERICA, INC. |
发明人 |
TAO, JIANMING;TSAI, JASON;MCGEE, H. DEAN |
分类号 |
B23K9/127;B25J9/16;B25J9/18;(IPC1-7):B23K9/12;B25J15/02;G05B19/33 |
主分类号 |
B23K9/127 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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