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Method and device for controlling an auxiliary tool axis of a tool being guided by a manipulator

  • US 9,616,526 B2
  • Filed: 05/26/2010
  • Issued: 04/11/2017
  • Est. Priority Date: 05/29/2009
  • Status: Active Grant
First Claim
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1. A method of operating an independently actuable axis of a tool supported on a robotic manipulator having a plurality of drive axes controlled by a computer control, the method comprising:

  • defining a position and/or orientation of the tool in space in terms of the translational or angular positions of the drive axes of the robotic manipulator;

    defining a process-based position value of a target along the tool axis; and

    determining a tool drive axis position that results in the process-based position value using the computer control.

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