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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-4986724-A, on 22 January 1991. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000003434

System for compensated motion of coupled robot axes

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
LINTNER DAVID E, STEINMETZ MICHAEL A
Assignee
CINCINNATI MILACRON INC
Original source
US-4986724-A, the United States Patent and Trademark Office, 22 January 1991
Document SHA-256
835961023953793756daa9fc53b0db8ae2b9bce87f4d472b84ab2424ac09a436

A system for accurately and smoothly moving the tool centerpoint of a manipulator device. The system includes means for measuring the angles at the elbow pivot joint and shoulder pivot joint of the manipulator device. Required compensating movement in a second axis of the manipulator linkage as a result of movement in a first axis thereof is anticipated by the control system to enable substantially simultaneous movement of both axes, and feedback of the angular position of the pivot joints during such movements enables enhancement of the precision of the tool centerpoint movement.

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Abstract

A system for accurately and smoothly moving the tool centerpoint of a manipulator device. The system includes means for measuring the angles at the elbow pivot joint and shoulder pivot joint of the manipulator device. Required compensating movement in a second axis of the manipulator linkage as a result of movement in a first axis thereof is anticipated by the control system to enable substantially simultaneous movement of both axes, and feedback of the angular position of the pivot joints during such movements enables enhancement of the precision of the tool centerpoint movement.

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Publication information

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Citation

OpenTechnical Publication OT-2026-000003434, “System for compensated motion of coupled robot axes,” published September 15, 2026 at 20:27:04 UTC, https://opentechnical.org/p/OT-2026-000003434.

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This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.