Abstract

An articulated manipulator and control are provided for producing controlled motion of a function element carried by the manipulator. The motion is defined by input signals specifying with respect to a rectangular coordinate system the positions and path velocities therebetween of a tool centerpoint associated with the function element. The control interpolates intermediate points along a predetermined path between any two positions. The intermediate points are produced in accordance with a fixed period interval and incremental velocity values instantaneously variable with each interval. Continuous functions of acceleration and deceleration are produced to vary the velocity in accordance with the programmed description of motion. Further velocity adjustment is permitted in accordance with unprogrammed variations of a preselected parameter.