Industrial robot circular arc control method for controlling the angle of a tool
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United States of America Patent
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Oct 6, 1987
Grant Date -
N/A
app pub date -
Jan 25, 1985
filing date -
May 26, 1983
priority date (Note) -
Expired
status (Latency Note)
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Abstract
An industrial robot arc control method subjects the position of a working member to circular-arc control by interpolation while controlling the target angle of the working member with respect to a surface to be worked, which working member is mounted on the wrist of an industrial robot. The industrial robot circular arc control method includes obtaining corresponding points (P1, P2 . . . ; Q1, Q2 . . . ;) of the tip and base of the working member (TC) at plural taught points for circular-arc control of the tip of the working member, which is mounted on a wrist (HD) of the robot, finding interpolated points of the tip and base of the working member by interpolation from the corresponding taught points, and obtaining command quantities for the motion axes of the robot from the interpolated points.
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