Claims Analysis
Total Claims: 9
Claim 1
Independent Claim
160 words
A vertical revolute joint robot including: a first link, a base, a first revolute joint coupling said first link to said base, a second link, a second revolute joint coupling said second link to said first link, and a third link a third revolute joint coupling said third link to said second link; an offset wrist, mounted to said arm, including a plurality of revolute joints where at least two axes of said revolute joints are parallel to each other; an end effector, having a target position and an orientation, mounted at an end of said offset wrist; and control means for calculating joint angles of the respective first, second, third and plurality of revolute joints based on the target position and the orientation of said end effector and previously calculated joint angles; said first and second revolute joints having joint axes which respectively extend perpendicular to an axis of said base and along an axis of said first link.
Claim 2
Dependent Claim
160 words
A vertical revolute joint robot including: a first link, a base, a first revolute joint coupling said first link to said base, a second link, a second revolute joint coupling said second link to said first link, and a third link a third revolute joint coupling said third link to said second link; an offset wrist, mounted to said arm, including a plurality of revolute joints where at least two axes of said revolute joints are parallel to each other; an end effector, having a target position and an orientation, mounted at an end of said offset wrist; and control means for calculating joint angles of the respective first, second, third and plurality of revolute joints based on the target position and the orientation of said end effector and previously calculated joint angles; said first and second revolute joints having joint axes which respectively extend perpendicular to an axis of said base and along an axis of said first link.
Claim 3
Dependent Claim
67 words
A vertical revolute joint robot according to claim 1, wherein each of said first, second, third and plurality of revolute joints has a coordinate system associated therewith and wherein said control means includes means for calculating a joint angle in accordance with a predetermined arithmetic equation which uses transformation matrices employed for coordinate transformation between adjacent ones of the coordinate systems respectively set for said revolute joints.
Claim 4
Dependent Claim
83 words
A vertical revolute joint robot according to claim 2, wherein said base has a fixed position and wherein said calculating means includes means for calculating an angle of said first revolute joint based on the target position and orientation of said end effector and -(sin θ.sub.1) P.sub.x +(cosin θ.sub.1) P.sub.y =0 where θ 1 equals the angle of said first revolute joint, P x and P y are position vectors of said end effector in relation to the fixed position of said base.
Claim 5
Dependent Claim
58 words
A vertical revolute joint robot according to claim 3, wherein said base has a first axial direction and said first link has a second axial direction, and wherein said first joint has a joint axis which extends perpendicularly to the first axial direction, and said second joint has a joint axis which extends in the second axial direction.
Claim 6
Dependent Claim
91 words
A vertical revolute joint robot, comprising: a base; a plurality of links; an end effector having a target position and an orientation; a plurality of revolute joints, coupling said base to a first one of said links, coupling said first one of said links to at least another one of said links, and coupling said end effector to said at least another one of said links; and calculating means for calculating joint angles of said plurality of revolute joints based on the target position and the orientation of said end effector.
Claim 7
Dependent Claim
91 words
A vertical revolute joint robot, comprising: a base; a plurality of links; an end effector having a target position and an orientation; a plurality of revolute joints, coupling said base to a first one of said links, coupling said first one of said links to at least another one of said links, and coupling said end effector to said at least another one of said links; and calculating means for calculating joint angles of said plurality of revolute joints based on the target position and the orientation of said end effector.
Claim 8
Dependent Claim
60 words
A vertical revolute joint robot according to claim 5, wherein said calculating means includes means for calculating the joint angles of said plurality of revolute joints based upon previously calculated joint angles of said plurality of revolute joints; and detector means for detecting a rotational position of said corresponding servomotor means for each of said first through sixth revolute joints.
Claim 9
Dependent Claim
49 words
A vertical revolute joint robot according to claim 5, further comprising: a plurality of servomotor means for rotatively driving a corresponding one of said plurality of revolute joints; and detecting means for detecting a rotational position of said corresponding servomotor means for each of said plurality of revolute joints.