Patent ID: 6064168
Filing Date: 2000-05-16
Classification: B23K,B25J,G05B

Abstract:
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).