Programming of a robotic arm using a motion capture system

• US 10,245,731 B2
• Filed: 02/08/2018
• Issued: 04/02/2019
• Est. Priority Date: 03/05/2013
• Status: Active Grant

• Current Assignee: Intrinsic Innovation LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Linnell, Jeffrey
• Primary Examiner(s): Mancho, Ronnie M
• Application Number:
  US15/892,008
• Publication Number:
  US 20180161987A1
• Time in Patent Office: 418 Days
• Field of Search: 700245, 700259
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence
• CPC Class Codes: G05B 2219/36442 Automatically teaching, teach by showing
• CPC Class Codes: G05B 2219/37563 Ccd, tv camera
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device
• CPC Class Codes: Y10S 901/47 Optical

Abstract

An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

Claims

1. A computer-implemented method comprising:

causing a robotic device to move a robot tool using one or more robot movements of a replication control path, wherein the one or more robot movements of the replication control path cause the robotic device to move the robot tool through a motion path that corresponds to a predetermined motion path of a demonstration tool;

receiving position data indicative of position of the robot tool during movement of the robot tool by the robotic device;

comparing the position data to the predetermined motion path of the demonstration tool; and

based on the comparison, determining a refinement to the one or more robot movements of the replication control path.

2. The method of claim 1, wherein the position data indicative of the position of the robot tool is received from one or more cameras.

3. The method of claim 2, wherein the position data received from the one or more cameras comprises data indicative of position of one or more control markers attached to the robot tool.

4. The method of claim 3, wherein the one or more control markers comprise one or more light emitting diode markers.

5. The method of claim 1, wherein the refinement is determined before the robotic device completes the one or more movements of the replication control path, and the method further comprises causing the robotic device to adjustment motion of the robot tool based on the refinement.

6. The method of claim 1, wherein:

the demonstration tool is a camera used to film a scene; and

the robot tool is a camera used by the robotic device to film a different iteration of the scene.

7. The method of claim 1, wherein:

the demonstration tool is a manufacturing tool used to fabricate an output product; and

the robot tool is a manufacturing tool used by the robotic device to fabricate a copy of the output product.

8. The method of claim 1, wherein the robot tool is a welding tool.

9. The method of claim 1, wherein the robot tool is a paint brush.

10. The method of claim 1, further comprising determining one or more refinements to the one or more robot movements of the replication control path in order to smooth one or more curves of robot movements within the replication control path.

11. The method of claim 1, further comprising:

receiving one or more refinements to the one or more robot movements of the replication control path via a user interface; and

updating a displayed visual simulation of the one or more robot movements within the replication control path to reflect the one or more refinements.

12. The method of claim 1, wherein the motion path of the robot tool comprises scaled positions from the motion path of the demonstration tool.

13. The method of claim 1, wherein the predetermined motion path of the demonstration tool comprises a sequence of positions resulting from a force of nature applied to the demonstration tool.

14. The method of claim 13, wherein the force of nature comprises gravity.

15. A system comprising:

a robotic device; and

a control system configured to;

cause the robotic device to move a robot tool using one or more robot movements of a replication control path, wherein the one or more robot movements of the replication control path cause the robotic device to move the robot tool through a motion path that corresponds to a predetermined motion path of a demonstration tool;

receive position data indicative of position of the robot tool during movement of the robot tool by the robotic device;

compare the position data to the predetermined motion path of the demonstration tool; and

based on the comparison, determine a refinement to the one or more robot movements of the replication control path.

16. The system of claim 15, further comprising one or more cameras, wherein the position data indicative of the position of the robot tool is received from the one or more cameras.

17. The system of claim 16, further comprising one or more control markers attached to the robot tool, wherein the position data received from the one or more cameras comprises data indicative of position of the one or more control markers attached to the robot tool.

18. The system of claim 17, wherein the one or more control markers comprise one or more light emitting diode markers.

19. The system of claim 15, wherein the control system is further configured to cause the robotic device to adjustment motion of the robot tool based on the refinement.

20. A non-transitory computer readable medium having stored therein instructions, that when executed by a computing system, cause the computing system to perform functions comprising:

causing a robotic device to move a robot tool using one or more robot movements of a replication control path, wherein the one or more robot movements of the replication control path cause the robotic device to move the robot tool through a motion path that corresponds to a predetermined motion path of a demonstration tool;

receiving position data indicative of position of the robot tool during movement of the robot tool by the robotic device;

comparing the position data to the predetermined motion path of the demonstration tool; and

based on the comparison, determining a refinement to the one or more robot movements of the replication control path.