发明名称 |
METHOD AND SYSTEM FOR ESTIMATING ROBOT TOOL CENTER POINT SPEED |
摘要 |
A control unit (34) for estimating a speed of a robot tool center point including a path or trajectory planner (38) and an interpolator (40). The planner (38) receives a correct position of a load (18) on a first line (28) and a command or destination position signal on a second line (42) from a user interface (36). In turn, the planner (38) outputs trajectory parameters on a third line (44) to the interpolator (40). The interpolator (40) takes the trajectory parameters, performs path interpolation and outputs a smoothed blended Cartesian velocity command on a fourth line (46) to a servo controller (24).
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申请公布号 |
WO9504316(A1) |
申请公布日期 |
1995.02.09 |
申请号 |
WO1994US08214 |
申请日期 |
1994.07.22 |
申请人 |
FANUC ROBOTICS NORTH AMERICA, INC. |
发明人 |
MCGEE, H., DEAN;OSBORN, DAVID, W.;BUTKIEWICZ, JOHN, D. |
分类号 |
B25J9/18;G05B19/416;(IPC1-7):G05B19/42 |
主分类号 |
B25J9/18 |
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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