METHOD AND APPARATUS FOR ROBOT PATH TEACHING
First Claim
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1. A system comprising:
- a robot configured to perform an operation on a workpiece;
a 3D vision system operable for tracking objects;
a dummy tool configured to represent at least a portion of an actual tool used during operation of the robot;
a database for storing robot commands defined by hand gestures;
a 3D model of a robot scene; and
a computational device configured to define an operation path and operation commands for the robot to follow based on input from the training procedure including data captured by the 3D vision system of one or more positions and orientations of the dummy tool, hand gestures and the 3D model of a robot scene.
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Abstract
A dummy tool is used to teach a robot the path the robot will follow to perform work on a workpiece to eliminate the possibility of damaging an actual tool during the training. The dummy tool provides the robot programmer an indication of potential collisions between the tool and the workpiece and other objects in the work cell when path is being taught. The dummy tool can have a detachable input/output device with a graphic user interface (GUI) that can communicate wirelessly with the robot controller. The dummy tool can also have a moveable camera attached thereto to track the relationship of the tool to objects in the work area.
12 Citations
29 Claims
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1. A system comprising:
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a robot configured to perform an operation on a workpiece; a 3D vision system operable for tracking objects; a dummy tool configured to represent at least a portion of an actual tool used during operation of the robot; a database for storing robot commands defined by hand gestures; a 3D model of a robot scene; and a computational device configured to define an operation path and operation commands for the robot to follow based on input from the training procedure including data captured by the 3D vision system of one or more positions and orientations of the dummy tool, hand gestures and the 3D model of a robot scene. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robot system comprising:
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a programmable robot; a sensor for sensing input commands from a hand gesture; a 3D camera operable to provide a 3D robot scene; a dummy tool configured to replicate at least a portion of an actual tool; wherein a pathway and operational movement of the robot is defined by instructions from a computational device based on results from a training procedure that uses the robot and the dummy tool. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A method comprising:
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providing a dummy tool for operation with a robot; training the robot to move along a workpath and/or work on a workpiece using the dummy tool to determine a potential interference with an object along the workpath; and inputting commands to a computational device to define the workpath and/or operational maneuvering of the robot with an actual tool based on the training. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29)
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Specification