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:
Sep. 03, 2013
Filed:
May. 07, 2008
Jens Hacker, Markgroningen, DE;
Bjoern Schoell, Asperg, DE;
Alexander Meissner, Stuttgart, DE;
Dürr Systems GmbH, Beilstein, DE;
Abstract
A predetermined robot path includes a plurality of path points defined by spatial coordinates. Spatial coordinates of the individual path points are converted in accordance with inverse robot kinematics into corresponding axis coordinates, the axis coordinates representing the position of the individual robot axes at respective path points. Axis-related controllers are actuated for individual robot axes in accordance with converted axis coordinates. Axis-related drive motors in individual robot axes are actuated by at least associated axis-related controllers. Path correction values are determined for individual path points on the robot path in accordance with a dynamic robot model, the path correction values taking account of the elasticity, friction, and/or inertia of the robot. Corrected axis coordinates are determined for the individual path points from uncorrected axis coordinates of individual path points and path correction values. The axis-related controllers are actuated with at least corrected axis coordinates.