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:
Jun. 26, 1990
Filed:
Jun. 15, 1988
Applicant:
Inventor:
Havard I Vold, Milford, OH (US);
Assignee:
Robotics Research Corporation, Milford, OH (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G05B / ;
U.S. Cl.
CPC ...
364513 ; 36416701 ; 901 15 ;
Abstract
A controller retrieves from memory a series of discrete end effector positions consisting of location and orientation of the end effector. Joint angle values are computed in real time corresponding to intermediate points along the path in a manner which provides smooth end effector motion, avoids the problems of singularities and efficiently accommodates kinematic redundancy. In particular, end effector reorientation between successive goal points is smoothly accomplished by rotating the end effector about the eigenvector of the two successive end effector orientations.