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:
Jan. 22, 1991
Filed:
Feb. 03, 1989
Applicant:
Inventors:
Michael A Steinmetz, Greenwood, SC (US);
David E Lintner, Westchester, OH (US);
Assignee:
Cincinnati Milacron Inc., Cincinnati, OH (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B25J / ;
U.S. Cl.
CPC ...
414729 ; 414917 ; 414786 ; 901-9 ; 901 23 ; 901 46 ;
Abstract
A system for accurately and smoothly moving the tool centerpoint of a manipulator device. The system includes means for measuring the angles at the elbow pivot joint and shoulder pivot joint of the manipulator device. Required compensating movement in a second axis of the manipulator linkage as a result of movement in a first axis thereof is anticipated by the control system to enable substantially simultaneous movement of both axes, and feedback of the angular position of the pivot joints during such movements enables enhancement of the precision of the tool centerpoint movement.