Patent ID: 7611180

Claim:
A method of controlling an end of arm tool mounted on a robotic arm for placing or retrieving an article, comprising the steps of: providing an end of arm tool having a plurality of operating mechanisms, each of the operating mechanisms being independently pivotable in a common plane and including a fastener for holding the operating mechanism in a fixed position after the operating mechanism has been pivoted; a single separate gripping device carried by a corresponding bracket moveably mounted upon each of said operating mechanisms with each gripping device movable by its respective operating mechanism along a separate elongated path spaced from the paths of the other gripping devices; providing a plurality of motors at least one motor operatively connected to a respective gripping device for moving that gripping device along its respective path; pivoting at least one of the operating mechanisms into a position; fixing the at least one of the operating mechanisms in position with the fastener associated with the operating mechanism; and using at least one programmable controller programmed with a plurality of operating modes for the robotic arm and end of arm tool, each of the modes being selectable by the controller based on an input that indicates to the controller what mode of operation the end of arm tool is to operate in for the next movement and then move the robotic arm and end of arm tool accordingly.