Automated curvilinear path interpolation for industrial robots

Details Automated curvilinear path interpolation for industrial robots Automated curvilinear path interpolation for industrial robots

1987-04-28

1989-04-11

Ruggiero, Joseph

Boots, shoes, and leggings

31856815, 318573, 364193, 364192, 36447431, G06F 1546, G05B 19415, G05B 1942

Patent

active

048212075

ABSTRACT:
A method for generating a path to be followed by the end effector of an industrial robot includes defining the location of points on the path, recording the coordinates of the points in cartesian space, determining the slope of the path at each of the taught points with reference to a code that defines the nature of the path in the vicinity of each point, calculating the direction vector representing the slope at each taught point, locating the position and slope of a point midway between successive taught points, connecting the taught points and the midpoints with a circular arc whose slope is equal to the slope at the taught points and midpoints, and generating points between the taught points with reference to the desired velocity of the end effector at each of the generated points on the path to be traversed.

REFERENCES:
patent: 4550383 (1985-10-01), Sugimoto
patent: 4635206 (1987-01-01), Bhatia
patent: 4680519 (1987-07-01), Chano et al.
patent: 4689756 (1987-08-01), Koyama et al.
patent: 4698777 (1987-10-01), Toyoda et al.

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