Appeal No. 1998-1083
Application 08/402,606
to compensate for the positional displacement at each
interpolation point along the path.
Claim 1 is reproduced below.
1. A robot path planning method where bending
owing to load is taken into consideration, comprising
steps of:
(a) calculating a linear section to be drawn by a
distal end of a robotic tool, by using said distal end
of said robotic tool at a starting point and at an
ending point of said linear section as recognized by a
robot controller;
(b) setting a first plurality of interpolation
points on said linear section as calculated in step
(a);
(c) determining a bending amount at said distal
end of said robotic tool at said starting point and at
said ending point, respectively, of said linear
section;
(d) calculating said bending amount at said distal
end of said robotic tool at each said first plurality
of interpolation points, based on said bending amount
of said distal end of said robotic tool at said
starting point and at said ending point of said linear
section as determined in step (c), and set a position
of each of said first plurality of interpolation points
on said linear section; and
(e) setting a second plurality of interpolation
points to be used in said robot controller by
subtracting said bending amount at said distal end of
said robotic tool at each of said first plurality of
interpolation points calculated in step (d), from each
of said second plurality of interpolation points of
step (e).
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