System for compensated motion of coupled robot axes

Details System for compensated motion of coupled robot axes System for compensated motion of coupled robot axes

1989-02-03

1991-01-22

Werner, Frank E.

Material or article handling

Vertically swinging load support

Grab

414917, 414786, 901 9, 901 23, 901 46, B25J 900

Patent

active

049867245

ABSTRACT:
A system for accurately and smoothly moving the tool centerpoint of a manipulator device. The system includes means for measuring the angles at the elbow pivot joint and shoulder pivot joint of the manipulator device. Required compensating movement in a second axis of the manipulator linkage as a result of movement in a first axis thereof is anticipated by the control system to enable substantially simultaneous movement of both axes, and feedback of the angular position of the pivot joints during such movements enables enhancement of the precision of the tool centerpoint movement.

REFERENCES:
patent: 3906323 (1975-09-01), Ono et al.
patent: 4076131 (1978-02-01), Dahlstrom et al.
patent: 4140953 (1979-02-01), Dunne
patent: 4298308 (1981-11-01), Richter
patent: 4488242 (1984-12-01), Tabata et al.
patent: 4578627 (1986-03-01), Droscher et al.

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