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:
Jul. 28, 1987
Filed:
Jul. 11, 1984
Matsushita Electrical Industrial Co. Ltd., Osaka, JP;
Abstract
A method of interpolatively controlling the movement of an arm portion of a robot along a line between predetermined first and second spatial positions which comprises teaching and playback steps. The teaching steps include inputting and storing in a teaching data storing memory the values of coordinates defining the first and second spatial positions, inputting and storing in the memory the predetermined velocity of the arm at the first spatial position, and determining from the coordinates and velocity stored in the memory the distance to be traversed by the arm between the first and second positions and the time required for this traversal. The playback steps include dividing the traverse time by a predetermined time unit to obtain a plurality of time-separated interpolation points and calculating sequentially incremental coordinate values for each of distance-separated points, corresponding to the time-separated points, from the stored coordinate values. The arm portion of the robot is then moved in accordance with the calculated incremental coordinate values.