Method to avoid singularity in a robot mechanism

Details Method to avoid singularity in a robot mechanism Method to avoid singularity in a robot mechanism

1986-12-08

1987-12-29

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318567, 318566, 901 2, 901 3, 364513, G05B 1910

Patent

active

047163500

ABSTRACT:
A method to avoid excessive rotational speeds, of the axes of a robot wrist, that result in the vicinity of a singularity in the path defined by consecutive points along which a tool held by a three-axis wrist mechanism of the robot moves. The speeds of the first and third axes are reduced within the allowable range of rotational speed for these axes, generally defined by the robot manufacturer, while maintaining constant the rotation about the intermediate or second joint. The rotational speed about each of these axes is determined as the tool moves between successive points on the path. Then, if necessary, the rotation of the second joint is decreased while maintaining constant the speeds about the first and third axes. Finally, the tool is maintained on the path by rotating the position of the tool without altering the reduced speeds of rotation about the axes.

REFERENCES:
patent: 4068156 (1978-01-01), Johnson et al.
patent: 4467436 (1984-08-01), Chance et al.
patent: 4528632 (1985-07-01), Nio et al.
patent: 4547858 (1985-10-01), Horak
patent: 4550383 (1985-10-01), Sugimoto
patent: 4594671 (1986-06-01), Sugimoto et al.
patent: 4604561 (1986-08-01), Kamajima et al.
patent: 4604716 (1986-08-01), Kato et al.
patent: 4680519 (1987-07-01), Chand et al.

Affiliated with

Also associated with

Rating

Method to avoid singularity in a robot mechanism does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Method to avoid singularity in a robot mechanism, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method to avoid singularity in a robot mechanism will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-464749