MULTI-AXIS ROBOT WITH ADJUSTABLE END OF ARM TOOL
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United States of America Patent
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Issued Date -
Mar 21, 2024
app pub date -
Aug 31, 2023
filing date -
Sep 21, 2022
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Abstract
A robot system includes an articulated robot having a base near one end, a wrist flange near an opposite end, and a plurality of robot portions between the base and the wrist flange. A cutting tool is secured to the wrist flange and selectively moveable about at least one tool axis to change an angle of orientation of the cutting tool. A controller coordinates movement of the robot portions and at least one change in the angle of orientation of the cutting tool to move the cutting tool in an uninterrupted manner along a continuous cutting path to cut a slab of material while avoiding a singularity condition in which any two of the robot's axes are collinear.
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