Appeal No. 1998-1083
Application 08/402,606
This is a decision on appeal under 35 U.S.C. § 134 from
the final rejection of claims 1-5.
We reverse.
BACKGROUND
The invention is directed to a robot path planning
method where bending due to load is taken into
consideration. When a heavy tool is mounted to a robot,
there is a discrepancy between the robot position measured
by the robot controller and the actual robot position caused
by bending. The method determines (measures or computes)
the positional displacement (a "bending amount") between the
measured and actual position of the end of the robot tool at
the start and end points of the robot tool path. Positional
displacements (bending amounts) at interpolation points
intermediate the start and end points are calculated from
the bending amounts at the start and end points using one of
the linear interpolation equations on page 8 of the
specification and are subtracted from the measured positions
at the interpolation points to provide target positions that
are actually used by the robot controller. That is, the
method reverse calculates the angular adjustment necessary
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