Method and system for estimating robot tool center point speed

Details Method and system for estimating robot tool center point speed Method and system for estimating robot tool center point speed

1993-07-30

1994-12-13

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

31856813, 31856819, G05B 1942, B25J 910, B25J 922

Patent

active

053732219

ABSTRACT:
A method and system is disclosed for estimating a speed of a robot tool center point at a specified time. The method includes the step of receiving an input signal representing the specified time for which the speed estimate is desired. The method also includes the step of processing individual motion segment data to create a blended Cartesian velocity vector. The individual motion segment data represents at least one robot motion segment. The method finally includes the step of transmitting an output signal based on a scalar magnitude of the blended Cartesian velocity vector. The output signal represents the speed of the robot Tool Center Point at the specified time.

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