Patent ID: 8820203
Filing Date: 2014-09-02
Classification: B25J,B26D,B26F,Y10T

Abstract:
1. A method of controlling robot motion for small shape generation, the method comprising the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality of major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative to a workpiece, the robot including a tool at a wrist of the robot, the tool having an approach vector; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about one of the major axes further, wherein determining a next interpolated position on the path includes utilizing a geometry of the small shape and a location of the tool center point to generate path data for two or more of the minor axes; and d) moving the robot to the next interpolated position while the one major axis remains fixed and while permitting motion of the robot about at least five other axes including remaining ones of the major axes and all of the minor axes, wherein the approach vector is maintained normal with respect to a surface of the workpiece throughout the movement of the robot during the generation of the small shape, and wherein sides of the small shape generated are normal with respect to the surface of the workpiece.