Method and a system for programming an industrial robot
First Claim
1. A method in connection with programming of an industrial robot, comprising teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot, the method comprising:
- obtaining an image of the object, obtaining information about the position of a pointing member pointing at points on or in the vicinity of the object, determining the position of the points in relation to the object based upon said obtained information, storing the point being presently pointed out by the pointing member as a waypoint upon receiving a recording signal, generating a graphical representation of the stored waypoint and the point being presently pointed at by the pointing member, and displaying a view comprising the object and said graphical representation projected on the object based on the image of the object and the generated graphical representation of the points.
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Accused Products
Abstract
A method for programming an industrial robot. The robot is taught a path having waypoints located on or in the vicinity of an object. An image of the object is obtained. Information is obtained about the position of a pointer pointing at points. The position of the points relative to the object is determined. A point being pointed out is stored as a waypoint. A graphical representation is generated of the stored waypoint and the point being pointed out. A view is displayed including the object and the graphical representation. A system includes a pointer for pointing out points on or in the vicinity of the object, a position determiner determines the position of the points relative to the object, a camera delivers an image of the object and the pointer, a graphical generator generates graphics, a display displays a view including the object and graphical representation, and an activator.
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Citations
28 Claims
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1. A method in connection with programming of an industrial robot, comprising teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot, the method comprising:
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obtaining an image of the object, obtaining information about the position of a pointing member pointing at points on or in the vicinity of the object, determining the position of the points in relation to the object based upon said obtained information, storing the point being presently pointed out by the pointing member as a waypoint upon receiving a recording signal, generating a graphical representation of the stored waypoint and the point being presently pointed at by the pointing member, and displaying a view comprising the object and said graphical representation projected on the object based on the image of the object and the generated graphical representation of the points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system for use in connection with programming of an industrial robot, the programming comprises teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot, the system comprising:
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a pointing member adapted for pointing out points on or in the vicinity of the object, a position determining means, determining the position of said points in relation to the object, a camera adapted for delivering an image of the object and the pointing member, a graphical generator, generating graphics by means of a computer, and a display member, displaying a view comprising the object and said graphical representation projected on the object, an activating member, storing a point as a waypoint upon activating wherein the graphical generator is adapted for generating a graphical representation of the stored waypoints and the point being presently pointed out by the pointing member based on the image of the object and the positions of the points. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A display member for use connection with programming of an industrial robot, the programming comprising teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot, the display comprising:
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a view of the object and a graphical representation of recorded waypoints and a path between the waypoints, which representation of waypoints and path is projected or otherwise superimposed on the object. - View Dependent Claims (28)
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Specification