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Method of controlling robot movement

  • US 6,064,168 A
  • Filed: 03/13/1998
  • Issued: 05/16/2000
  • Est. Priority Date: 03/13/1998
  • Status: Expired due to Fees
First Claim
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1. A method of controlling movement of a tool that is supported by a robot having a wrist that is moveable about a plurality of wrist axes that are associated with a wrist origin, comprising the steps of:

  • (A) positioning the tool adjacent a preselected tool path;

    (B) moving the wrist origin along a predetermined wrist path corresponding to the preselected tool path;

    (C) moving the tool in a first direction away from the preselected tool path by moving only the wrist about at least one of the wrist axes;

    (D) moving the tool in a second direction back toward the preselected tool path by moving only the wrist about at least one of the wrist axes; and

    (E) cyclically performing steps (C) and (D) while performing step (B).

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