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Robot path planning method where bending owing to load is taken into consideration

  • US 6,157,155 A
  • Filed: 03/13/1995
  • Issued: 12/05/2000
  • Est. Priority Date: 03/16/1994
  • Status: Expired due to Fees
First Claim
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1. A robot path planning method where bending owing to load is taken into consideration, comprising steps of:

  • (a) calculating a linear section to be drawn by a distal end of a robotic tool, by using said distal end of said robotic tool at a starting point and at an ending point of said linear section as recognized by a robot controller;

    (b) setting a first plurality of interpolation points on said linear section as calculated in step (a);

    (c) determining a bending amount at said distal end of said robotic tool at said starting point and at said ending point, respectively, of said linear section;

    (d) calculating said bending amount at said distal end of said robotic tool at each said first plurality of interpolation points, based on said bending amount of said distal end of said robotic tool at said starting point and at said ending point of said linear section as determined in step (c), and set a position of each of said first plurality of interpolation points on said linear section; and

    (e) setting a second plurality of interpolation points to be used in said robot controller by subtracting said bending amount at said distal end of said robotic tool at each of said first plurality of interpolation points calculated in step (d), from each of said second plurality of interpolation points of step (e).

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