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:
Oct. 14, 1986
Filed:
Jun. 22, 1984
Hitachi, Ltd., Tokyo, JP;
Abstract
A method and apparatus for controlling a robot hand along a predetermined path at a predetermined speed in space between two points, wherein the value of a command speed is determined on the basis of position information and velocity information on the robot hand, more particularly, on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed within a constant-speed region, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point within the constant-speed region.