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. 18, 2005
Filed:
Mar. 06, 2003
Sai-kai Cheng, Rochester Hills, MI (US);
Di Xiao, Rochester Hills, MI (US);
Chi-keng Tsai, Bloomfield Hills, MI (US);
H. Dean Mcgee, Rochester Hills, MI (US);
Min-ren Jean, Rochester Hills, MI (US);
Sai-Kai Cheng, Rochester Hills, MI (US);
Di Xiao, Rochester Hills, MI (US);
Chi-Keng Tsai, Bloomfield Hills, MI (US);
H. Dean McGee, Rochester Hills, MI (US);
Min-Ren Jean, Rochester Hills, MI (US);
FANUC Robotics America, Inc., Rochester Hills, MI (US);
Abstract
A method of controlling a robot () includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point () along a path () and selecting a final configuration different than the initial configuration to position the TCP at an ending point (). Next, the TCP moves from the starting point () while maintaining the initial configuration, approaches the singularity between a first point () and a second point (), and selects one of the axes in response to reaching the first point (). The angle for the selected axis is interpolated from the first point () to the second point (). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point () and moves to the ending point () while maintaining the final configuration.