Programming of a robotic arm using a motion capture system
First Claim
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.
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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.
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Citations
20 Claims
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1. A computer-implemented method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A system comprising:
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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. - View Dependent Claims (16, 17, 18, 19)
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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:
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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.
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Specification