Cincinnati Milacron Inc.

Motoman, Inc.

James Vaughn Brown

Joseph W Schnelle

David K Kuhl

Ronald L Tarvin

Gregory Webb

Michael J Ondrasek

A process and apparatus is provided for imparting linear motion to tooling. The tooling is attached to a manipulator device having two different length arms. The tooling may be moved linearly from a first point to a second point by adjusting the angles of the first and second arms for a number of intermediate points extending along a straight line between the first and second points and along which the tooling passes.

Process and apparatus for imparting linear motion to tooling attached to

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.

Method of moving and orienting a tool along a curved path

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Amelia, OH, United States of America

James Vaughn Brown