Wisconsin Alumni Research Foundation

Path Modifying Control System Managing Robot Singularities
WARF: P190303US02

Inventors: Paul Milenkovic

The Invention
A controller for robot arms and the like having mechanical singularities identifies paths near the singularities and modifies those paths to avoid excessive joint movement according to a minimization of tool orientation deviation to produce alternative paths that minimize changes in the tool orientation such as can affect application such as welding, sealant application, coating and the like.
For current licensing status, please contact Emily Bauer at [javascript protected email address] or 608-960-9842