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:
Mar. 08, 1994
Filed:
Apr. 15, 1991
Yoshiaki Nakatsuchi, Kobe, JP;
Tatsuo Yano, Ono, JP;
Kawasaki Jukogyo Kabushiki Kaisha, Hyogo, JP;
Abstract
A velocity-variation minimization control method for a robot includes the steps of substituting a position vector for a start point, a velocity vector for the start point, a position vector for an end point, a velocity vector for the end point, and a provisional movement time into equations that express the position and velocity of the robot as cubic functions with respect to time, to obtain solutions for coefficients of the cubic functions. A sum of squares of differences between a velocity obtained using the coefficients and a target velocity is obtained. Then using convergence calculations are performed to obtain a value of the movement time that minimizes the sum of squares. The robot is then controlled in such a manner that the effector of the robot follows a path based on the converged movement time.