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, 2002
Filed:
Mar. 26, 1999
Michael D. Gerstenberger, Lake Orion, MI (US);
Scott D. Greig, Rochester, MI (US);
David M. Martin, Clarkston, MI (US);
Khalid Mirza, Rochester Hills, MI (US);
El-Houssaine Waled, E. Windsor, CA;
KUKA Development Laboratories, Inc., Rochester Hills, MI (US);
Abstract
An object oriented motion system for controlling the movement of a robotic manipulator is presented. The motion system includes a trajectory generator object for producing a stream of machine joint commands. A kinematics object is operable to provide a set of robotic arm specific functions for the trajectory generator object. A servo object provides an interface to the servo system. The stream of machine motor commands are converted by the servo object to a stream of signals that drive the servo system, thereby controlling the trajectory of the robot arm.