OPENTECHNICAL PUBLICATION
OT-2026-000003434

System for compensated motion of coupled robot axes

Published: 2026-09-15T20:27:04.219787Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003434
Categories: Robotics & Automation > Robot Architectures

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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.

1. Drawings

[0001] Sheet 1.

[0002] Sheet 2.

[0003] Sheet 3.

[0004] Sheet 4.

[0005] Sheet 5.

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OpenTechnical publication OT-2026-000003434
Published 2026-09-15T20:27:04.219787Z
https://opentechnical.org/p/OT-2026-000003434