Patent US4937759A successfully refreshed from Google Patents.
US4937759A
Expired / Lapsed
US
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Industrial robot with controller
Assignee: ROBOTICS RESEARCH Corp
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Filing: 1988-06-15
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Granted: 1990-06-26
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Expires: 2008-06-15
Abstract
Abstract A controller retrieves from memory a series of discrete end effector positions consisting of location and orientation of the end effector. Joint angle values are computed in real time corresponding to intermediate points along the path in a manner which provides smooth end effector motion, avoids the problems of singularities and efficiently accommodates kinematic redundancy. In particular, end effector reorientation between successive goal points is smoothly accomplished by rotating the end effector about the eigenvector of the two successive end effector orientations.
Inventors
- 👤 Havard I. Vold
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-01 07:11
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1602; B25J9/1628; B25J9/1643; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/406; G05B19/4061; G05B19/414; G05B19/4141; G05B2219/00; G05B2219/30; G05B2219/33; G05B2219/33172; G05B2219/40; G05B2219/40333; G05B2219/40362
Claims Analysis
Total Claims: 3
Claim 1
Independent Claim
54 words
A method for end effector reorientation between successive goal positions comprising the steps of: computing an Eigenvector about which said end effector can be rotated from a current goal position to attain a next goal position; computing an Eigenvalue; and rotating said end effector about said Eigenvector by an amount prescribed by said Eigenvalue.
Claim 2
Independent Claim
54 words
A method for end effector reorientation between successive goal positions comprising the steps of: computing an Eigenvector about which said end effector can be rotated from a current goal position to attain a next goal position; computing an Eigenvalue; and rotating said end effector about said Eigenvector by an amount prescribed by said Eigenvalue.
Claim 3
Dependent Claim
14 words
The method according to claim 1 wherein said Eigenvector is computed by spectral decomposition.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1993-06-25 | 1993-12-25 | 1994-06-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1997-06-25 | 1997-12-25 | 1998-06-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2001-06-25 | 2001-12-25 | 2002-06-26 | $7700.00 | Window Closed / Lapsed |