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System and method for determining a work offset

  • US 10,456,914 B2
  • Filed: 10/11/2017
  • Issued: 10/29/2019
  • Est. Priority Date: 07/23/2015
  • Status: Active Grant
First Claim
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1. A method comprising:

  • receiving an indication to determine a work offset for a robot operating in a work environment, wherein the work offset describes a location and an angular orientation of a working plane of the work environment relative to a base plane of the robot;

    in response to the indication, identifying the working plane within the work environment;

    controlling an arm of the robot to cause the arm of the robot to reach a threshold distance from three points of the working plane based on sensor data from a proximity sensor on the arm of the robot;

    determining three respective positions of the robot when the arm of the robot is within the threshold distance of the three points of the working plane;

    based on the three respective positions of the robot, determining respective point locations of the three points of the working plane relative to the base plane; and

    determining the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the three points of the working plane.

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