Method of moving and orienting a tool along a curved path
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United States of America Patent
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May 30, 1989
Grant Date -
N/A
app pub date -
Jul 17, 1987
filing date -
Jul 17, 1987
priority date (Note) -
Expired
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Abstract
A method of positioning a tool along a circular arc. The tool is carried by an automaton which is moved through a teaching phase during which it is taught coordinates and wrist orientation angles for three reference points. The method then proceeds into a work phase in which calculations are performed to determine coordinates and wrist angles for a series of work points spaced along the circular arc defined by the three reference points. Thereafter the automaton is direction to position the tool at the calculated coordinates and orientations.
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