Method to Model and Program a Robotic Workcell
First Claim
1. A method of developing a 3-dimensional (3D) model of a robotic workcell, said workcell comprising a plurality of components, said plurality of components comprising a robot, at least a first of said components having a predefined 3D model, the method comprising the steps of:
- capturing an image of said workcell;
integrating the first 3D component model into a 3D model of said workcell;
synthesizing from said image of said workcell a 3D model of a second component; and
integrating said second 3D component model into said 3D workcell model.
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Abstract
An improved method to model and program a robotic workcell. Two-dimensional (2D) images of a physical workcell are captured to facilitate, in part, initial integration of any preexisting three-dimensional (3D) component models into a 3D model workcell. 3D models of other essential workcell components are synthesized and integrated into the 3D workcell model. The robot is then configured and programmed. The resultant 3D workcell model more faithfully reflects the “as-built” workcell than a traditional model that represents the “as-designed” workcell.
43 Citations
20 Claims
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1. A method of developing a 3-dimensional (3D) model of a robotic workcell, said workcell comprising a plurality of components, said plurality of components comprising a robot, at least a first of said components having a predefined 3D model, the method comprising the steps of:
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capturing an image of said workcell; integrating the first 3D component model into a 3D model of said workcell; synthesizing from said image of said workcell a 3D model of a second component; and integrating said second 3D component model into said 3D workcell model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of robotic and workcell programming, the method comprising the steps of:
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instantiating a workcell, said workcell comprising a plurality of components, said plurality of components comprising a robot; capturing an image of said workcell; integrating a first 3-dimensional (3D) component model into a 3D model of said workcell; synthesizing a second 3D component model from said image of said workcell; integrating said second 3D component model into said 3D workcell model; configuring said robot; and programming said robot. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification