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. 02, 2014
Filed:
Feb. 11, 2009
Yi Sun, West Bloomfield, MI (US);
H. Dean Mcgee, Rochester Hills, MI (US);
Jason Tsai, Bloomfield Hills, MI (US);
Hadi Akeel, Bloomfield Hills, MI (US);
Yi Sun, West Bloomfield, MI (US);
H. Dean McGee, Rochester Hills, MI (US);
Jason Tsai, Bloomfield Hills, MI (US);
Hadi Akeel, Bloomfield Hills, MI (US);
Fanuc Robotics America, Inc., Rochester Hills, MI (US);
Abstract
A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.