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Method for dynamically controlling a robotic arm

  • US 8,457,791 B2
  • Filed: 03/10/2009
  • Issued: 06/04/2013
  • Est. Priority Date: 03/10/2009
  • Status: Active Grant
First Claim
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1. A method for maneuvering an articulable robotic arm having an end-of-arm tool, comprising:

  • monitoring a position of a moving workpiece;

    determining an initial position of the moving workpiece;

    determining an initial position of the end-of-arm tool;

    iteratively determining an updated position of the moving workpiece corresponding to the monitored position of the moving workpiece; and

    while the moving workpiece is not engaged to the end-of-arm tool, iteratively executing individual motion segments to control the articulable robotic arm to position the end-of-arm tool contiguous to the moving workpiece until the end-of-arm tool engages the moving workpiece at the iteratively determined updated position of the moving workpiece based upon the initial position of the end-of-arm tool and the initial position of the moving workpiece.

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