US Patent: 3,920,972
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| Method and Apparatus for Programming a Computer Operated Robot Arm
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Patentees:
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| Merton Dudley Corwin, Jr. (exact or similar names) - Cincinnati, Hamilton County, OH |
| Richard Edward Hohn (exact or similar names) - Cincinnati, Hamilton County, OH |
| Ronald Lee Tarvin (exact or similar names) - Cincinnati, Hamilton County, OH |
| Manufacturer: |
| Not known to have been produced |
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Patent Dates:
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| Applied: |
Jul. 16, 1974 |
| Granted: |
Nov. 18, 1975 |
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Joel Havens
"Vintage Machinery" entry for Cincinnati Milacron, Inc.
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Description: |
| Abstract:
A method and apparatus is disclosed for teaching a cycle of operation to a computer operated robot arm thereby permitting the arm to automatically iterate the cycle of operation. The disclosed apparatus is operable with a robot arm having a geometric configuration defining a generalized coordinate system. By means of manually operable controls, a controlled element attached to one end of the arm is commanded to move to a number of predetermined points defining a desired path in space. This commanded motion is executed relative to a teaching coordinate system; e.g., a rectangular coordinate system which is noncoincident with the generalized coordinate system of the robot arm. When the controlled element is positioned at a predetermined point, further manual controls are operable to generate input signals defining a robot arm operation to be executed at said point. Next, the input signals and the coordinate information defining the predetermined point are transferred to a memory. After a complete cycle of operation has been transferred to the memory, the robot arm operation may be transferred to an automatic mode which causes the arm to automatically repeat the programmed cycle of operation. |
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