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Industrial robot with controller

  • US 4,937,759 A
  • Filed: 06/15/1988
  • Issued: 06/26/1990
  • Est. Priority Date: 02/18/1986
  • Status: Expired due to Term
First Claim
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1. 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.

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