Method and device for controlling robot

Details Method and device for controlling robot Method and device for controlling robot

2004-11-04

2008-09-02

Tran, Khoi H. (Department: 3664)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S246000, C700S247000, C700S248000, C700S249000, C700S250000, C700S251000, C700S252000, C700S253000, C700S254000, C700S255000, C700S256000, C700S257000, C700S258000, C700S259000, C318S568110, C318S568120, C318S568130, C318S568140, C318S568150, C219S121610, C219S121620, C219S121630, C219S121640, C219S125110, C901S002000, C901S008000, C901S009000, C901S016000, C901S023000

Reexamination Certificate

active

07421314

ABSTRACT:
A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.

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