Method for the control of positioning systems

Details Method for the control of positioning systems Method for the control of positioning systems

1991-03-29

1992-07-07

MacDonald, Allen R.

395 86, G05B 19415

Patent

active

051290456

ABSTRACT:
A method for controlling a positioning system, such as an industrial robot, relates to a continuous velocity concatenation of motion sets. In the concatenation range, an auxiliary Cartesian coordinate system (X.sub.H, Y.sub.H, Z.sub.H) is defined and the orientation (R1, R2, R3) of a robot's tool (W) is interpolated by means of roll, pitch and yaw angles relative to that auxiliary coordinate system. The latter is chosen so that the RPY angles B1, B2 and A1 have the value 0 at the concatenation points (UP1, UP2).

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