Apparatus for teaching and transforming noncoincident coordinate systems
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United States of America Patent
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Jun 26, 1984
Grant Date -
N/A
app pub date -
Mar 5, 1982
filing date -
Mar 5, 1982
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A coordinate system transformation control system for a programmable manipulator having a base referenced by a three dimensional cartesian coordinate system (base frame) includes a hand-held application module for directing the operation of the programmable manipulator. The end effector of the manipulator may be moved to locate a point of origin, a point in the x axis and a point in the x-y plane of another three dimensional cartesian coordinate system (user frame). Other user frames may be selected in the same manner and one user frame may be referenced to another user frame through a mathematical operation. These are known as stacked user frames, all such frames being ultimately referred back to the base frame for operation of the programmable manipulator.
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