Time optimal trajectory for cluster tool robots

Details Time optimal trajectory for cluster tool robots Time optimal trajectory for cluster tool robots

1997-05-28

1999-12-14

Grant, William

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

700262, 700213, G05B 1904

Patent

active

060029714

ABSTRACT:
A method and apparatus involving the application of an algorithm used for finding the time optimal trajectory for torque limited Industrial Robots, to achieve the operation of Cluster Tool Robots in an improved manner by modifying the applied algorithm through adding two additional constraints, i.e., jerk (the rate of change of acceleration) and the acceleration seen by the load. This modification renders it possible to create a robot arm trajectory that minimizes travel time by minimizing the excitation of uncontrolled resonances and avoiding command of an acceleration that would exceed the force of friction between a substrate holder on the end of the arm and a substrate held thereon by friction.

REFERENCES:
patent: 4937759 (1990-06-01), Vold et al.
patent: 4975856 (1990-12-01), Vold et al.
patent: 5581166 (1996-12-01), Eismann et al.
patent: 5655060 (1997-08-01), Lucas

Affiliated with

Also associated with

Rating

Time optimal trajectory for cluster tool robots does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Time optimal trajectory for cluster tool robots, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Time optimal trajectory for cluster tool robots will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-873039