A kinematic method to operate a multi-jointed robot to achieve coordinated, speed-invariant motion when the robot's end effector is moved along a predefined path. To accomplish such operation, a total execution time function is defined which is a function of acceleration time, slew time, and deceleration...http://www.google.es/patents/US4864205?utm_source=gb-gplus-sharePatente US4864205 - Method for coordinated control of motion devices
