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Active-constraint robots

  • US 7,035,716 B2
  • Filed: 01/29/2002
  • Issued: 04/25/2006
  • Est. Priority Date: 01/29/2001
  • Status: Expired due to Term
First Claim
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1. A method of controlling an active-constraint robot, comprising:

  • providing an active-constraint robot (4) including a tool (14) for operating on element, and a drive unit (20,28,38) for controlling movement of the tool;

    providing a model including a NURBS surface describing a constraint surface associated with the element;

    determining the imaginary point (I) of intersection of a force vector (V) representative of a force applied by a user to the tool and the NURBS surface; and

    controlling the drive unit (20,28,38) by resisting movement of the tool according to the determined point of intersection.

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