Patent ID: 7146242
Filing Date: 2006-12-05
Classification: B25J,G05B

Abstract:
1. A system comprising control logic and a programming interface, the programming interface including a user instruction configured to permit a user to specify one or more weighting points for a transitioning path segment in a multi-dimensional coordinate space, the weighting points and the transitioning path segment extending between first and second additional path segments in the multi-dimensional coordinate space, the control logic being configured to generate the transitioning path segment based on the weighting points, and the control logic including spline computation logic configured to generate a spine curve forming the transitioning path segment, the spline computation logic being configured to generate the spline curve based on boundary conditions relating to the first and second additional path segments and based on a series of control points extending from the first path segment to the second path segment, wherein the spline computation logic is configured to generate the control points based on the weighting points and based on the boundary conditions, wherein the spine curve extends near the weighting points and passes through at least some of the series of control points, and wherein the control logic is configured to generate control signals to control operation of a plurality of motion axes to drive movement of a controlled element along a path defined by the first additional path segment, the transitioning path segment, and the second additional path segment.