The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 16, 2021
Filed:
Nov. 20, 2018
Denso Wave Incorporated, Chita-gun, JP;
DENSO WAVE INCORPORATED, Aichi-Pref., JP;
Abstract
A robot has a vertical 6-axis articulated arm having an offset arm having a fifth axis and length link, and mutually linking fourth and sixth axes. The fourth and sixth axes shaft centers are parallel. The articulated arm has a head portion designated as a control point. A position and an orientation targeted to the control point is processed by an inverse transform to calculate angles of the axes. A provisional target position of the sixth axis is obtained by subtracting the link length from a target position of the sixth axis. The link length to the provisional target position is given zero to perform the inverse transform process. Processed results are evaluated. Until a difference between a calculated sixth-axis angles and provisionally decided sixth-axis angles becomes equal to or less than a predetermined value, processes started from the angle provisional decision of the sixth axis are repeatedly performed.