Method of moving and orienting a tool along a curved path

Details Method of moving and orienting a tool along a curved path Method of moving and orienting a tool along a curved path

1987-07-17

1989-05-30

MacDonald, Allen

Boots, shoes, and leggings

901 3, 901 14, 318574, 31856811, G05B 19415, G06F 1546

Patent

active

048357103

ABSTRACT:
A method of positioning a tool along a circular arc. The tool is carried by an automaton which is moved through a teaching phase during which it is taught coordinates and wrist orientation angles for three reference points. The method then proceeds into a work phase in which calculations are performed to determine coordinates and wrist angles for a series of work points spaced along the circular arc defined by the three reference points. Thereafter the automaton is direction to position the tool at the calculated coordinates and orientations.

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patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4698777 (1987-10-01), Toyoda et al.
Robot Offline Programming Release 4.00, by Cincinnati Milacron Inc. 3/1987.

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