Patent US5276383A successfully refreshed from Google Patents.
US5276383A
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Route interpolation method for robot
Assignee: Kobe Steel Ltd
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Filing: 1991-08-27
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Granted: 1994-01-04
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Expires: 2011-08-27
Abstract
Abstract A robot route interpolation method for interpolation a polygonal route of a robot which is defined by the predetermined three or more points, wherein the acceleration at the time when a first velocity on the above polygonal route before a turning point is changed into a second velocity on the above polygonal route after the turning point is obtained based on the above first and second velocities so that, based on the above first velocity and the above acceleration, the above robot is moved toward the turning point at an uniform velocity of the first velocity and is also moved at an uniform acceleration in the direction of the above acceleration.
Inventors
- 👤 Toshihiko Nishimura
- 👤 Masahiko Yomota
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 23:51
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/41; G05B19/4103; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34098; G05B2219/34175
Claims Analysis
Total Claims: 18
Claim 1
Independent Claim
100 words
In a robot route interpolation method for interpolating a polygonal route of a robot which is defined by a corresponding predetermined three or more points, said method comprising the steps of: obtaining an acceleration based upon a first velocity on said polygonal route before a turning point and a second velocity on said polygonal route after said turning point; and moving said robot toward said turning point at a uniform velocity of said first velocity while moving said robot at a uniform acceleration comprised of a product of said acceleration and a positional coefficient in the direction of said acceleration.
Claim 2
Dependent Claim
100 words
In a robot route interpolation method for interpolating a polygonal route of a robot which is defined by a corresponding predetermined three or more points, said method comprising the steps of: obtaining an acceleration based upon a first velocity on said polygonal route before a turning point and a second velocity on said polygonal route after said turning point; and moving said robot toward said turning point at a uniform velocity of said first velocity while moving said robot at a uniform acceleration comprised of a product of said acceleration and a positional coefficient in the direction of said acceleration.
Claim 3
Dependent Claim
103 words
A method as recited in claim 1, further comprising: dividing a first segment of said polygonal route between a first and a second of said predetermined points into a predetermined number of sections, and dividing a second segment of said polygonal route between said second and a third of said predetermined points into said predetermined number of sections; determining a position vector corresponding to each of said sections of each of said first and second segments, each of said position vectors being asymptotic to said turning point; wherein each of said position vectors are determined based upon said first velocity and said acceleration.
Claim 4
Dependent Claim
60 words
A method as recited in claim 2, wherein said step of determining said position vectors comprises: determining a first position vector at a selected section; determining a change in velocity vector for each of said sections; and determining a position vector for a section i using a position vector and a change in velocity vector corresponding to a section i-1.
Claim 5
Dependent Claim
32 words
A method as recited in claim 3, further comprising: inverting each of said position vectors to obtain corresponding joint angle vectors and servo controlling said robot based upon said joint angle vectors.
Claim 6
Dependent Claim
63 words
A method as recited in claim 3, comprising: determining a first position vector P; determining a change in velocity vector ΔV i for each of said sections i as ΔV.sub.i =V.sub.1 +A·i-1/2·A; and determining a position vector for a section i as: P.sub.i+1 =P.sub.i +ΔV.sub.i where: V 1 is a vector representing said first velocity, and A is a vector representing said acceleration.
Claim 7
Dependent Claim
96 words
A method as recited in claim 1, further comprising: dividing a first segment of said polygonal route between a first and a second of said predetermined points into a predetermined number of sections, and dividing a second segment of said polygonal route between said second and a third of said predetermined points into said predetermined numbers of sections; and obtaining said acceleration as a vector A as: A=(V.sub.2 -V.sub.1)/2N where: V 1 is a vector representing said first velocity, V 2 is a vector representing said second velocity, said N is said predetermined number of sections.
Claim 8
Dependent Claim
86 words
A method as recited in claim 1, further comprising: dividing a first segment of said polygonal route between a first and a second of said predetermined points into a predetermined number of sections, and dividing a second segment of said polygonal route between said second and a third of said predetermined points into said predetermined number of sections; and determining a plurality of positional coefficients as a first positional coefficient and twice said predetermined number of second positional coefficients determined by incrementing said first positional coefficient.
Claim 9
Dependent Claim
78 words
A method as recited in claim 7, further comprising: determining an interpolation route between a first segment point on said first segment and a second segment point on said second segment; determining said first positional coefficient at said first segment point; determining said second positional coefficients at points on said interpolation route corresponding to said predetermined number of sections of said first and second segments; and determining a last of said second coefficients at said second segment point.
Claim 10
Dependent Claim
94 words
A robot route interpolation method for interpolating a polygonal route of a robot which is defined by a corresponding predetermined three or more points, said method comprising the steps of: obtaining an acceleration vector based upon a vector difference between a second velocity vector on said polygonal route after a turning point and a first velocity vector on said polygonal route before said turning point; and moving said robot toward said turning point at said first velocity vector while uniformly accelerating said robot using a product of said acceleration vector and a positional coefficient.
Claim 11
Dependent Claim
94 words
A robot route interpolation method for interpolating a polygonal route of a robot which is defined by a corresponding predetermined three or more points, said method comprising the steps of: obtaining an acceleration vector based upon a vector difference between a second velocity vector on said polygonal route after a turning point and a first velocity vector on said polygonal route before said turning point; and moving said robot toward said turning point at said first velocity vector while uniformly accelerating said robot using a product of said acceleration vector and a positional coefficient.
Claim 12
Dependent Claim
89 words
A method as recited in claim 9, further comprising: dividing a first segment of said polygonal route between a first and a second of said predetermined points into a predetermined number of sections, and dividing a second segment of said polygonal route between said second and a third of said predetermined points into said predetermined number of sections; obtaining said acceleration vector A as: A=(V.sub.2 =V.sub.1)/2N where: V 1 is said first velocity vector, V 2 is said second velocity vector, and N is said predetermined number of sections.
Claim 13
Dependent Claim
105 words
A method as recited in claim 9, further comprising: dividing a first segment of said polygonal route between a first and a second of said predetermined points into a predetermined number of sections, and dividing a second segment of said polygonal route between said second and a third of said predetermined points into said predetermined number of sections; determining a position vector corresponding to each of said sections of each of said first and second segments, each of said position vectors being asymptotic to said turning point; wherein each of said position vectors are determined based upon said first velocity vector and said acceleration vector.
Claim 14
Dependent Claim
59 words
A method as recited in claim 11, wherein said step of determining said position vectors comprises: determining a first position vector at a selected section; determining a change in velocity for each of said sections; and determining a position vector for a section i using a position vector and a change in velocity vector corresponding to a section i-1.
Claim 15
Dependent Claim
32 words
A method as recited in claim 12, further comprising: inverting each of said position vectors to obtain corresponding joint angle vectors and servo controlling said robot based upon said joint angle vectors.
Claim 16
Dependent Claim
55 words
A method as recited in claim 12, comprising: determining a first position vector P; determining a change in velocity vector ΔV 1 for each of said sections i as: determining a position vector for a section i as: P.sub.i+1 =P.sub.i +ΔV.sub.i where: V 1 is said first velocity vector, and A is said acceleration vector.
Claim 17
Dependent Claim
86 words
A method as recited in claim 9, further comprising: dividing a first segment of said polygonal route between a first and a second of said predetermined points into a predetermined number of sections, and dividing a second segment of said polygonal route between said second and a third of said predetermined points into said predetermined number of sections; and determining a plurality of positional coefficients as a first positional coefficient and twice said predetermined number of second positional coefficients determined by incrementing said first positional coefficient.
Claim 18
Dependent Claim
78 words
A method as recited in claim 15, further comprising: determining an interpolation route between a first segment point on said first segment and a second segment point on said second segment; determining said first positional coefficient at said first segment point; determining said second positional coefficients at points on said interpolation route corresponding to said predetermined number of sections of said first and second segments; and determining a last of said second coefficients at said second segment point.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
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| 3.5 Years (Year 4) | 1997-01-03 | 1997-07-05 | 1998-01-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-01-03 | 2001-07-05 | 2002-01-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2005-01-03 | 2005-07-05 | 2006-01-04 | $7700.00 | Window Closed / Lapsed |