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. 18, 1994
Filed:
Sep. 18, 1992
Katsumi Ishihara, Tokyo, JP;
Masateru Yasuhara, Kawasaki, JP;
Canon Kabushiki Kaisha, Tokyo, JP;
Abstract
There are provided method and apparatus for controlling a robot, in which when the robot is continuously controlled in different directions such that from the movement in the horizontal direction to the movement in the vertical direction, the movements in the horizontal and vertical directions from a predetermined position are executed in parallel during the movement in the horizontal direction. In the method, target movement positions in the horizontal and vertical directions are input, a first distance which is necessary to move the robot in only the vertical direction is input, and the predetermined position is determined on the basis of the target movement positions in the horizontal and vertical directions and the first distance. The movements in the horizontal and vertical directions include the equal acceleration motion and the equal deceleration motion. With this method, the operator can easily perform the programming and teaching of the robot such that the robot can reach a desired final target position while avoiding obstacles without colliding therewith in the shortest time.