ROBOTIC NAVIGATION SYSTEM AND METHOD

• US 20170028549A1
• Filed: 07/28/2015
• Published: 02/02/2017
• Est. Priority Date: 07/28/2015
• Status: Abandoned Application

• Current Assignee: Comprehensive Engineering Solutions Incorporated
• Original Assignee: Comprehensive Engineering Solutions Incorporated
• Inventors: Battisti, Mark A.
• Application Number:
  US14/811,440
• Publication Number:
  US 20170028549A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence
• CPC Class Codes: G05B 2219/39439 Joystick, handle, lever controls manipulator directly, manually by operator
• CPC Class Codes: G05B 2219/39443 Portable, adapted to handpalm, with joystick, function keys, display

Abstract

A robotic navigation system includes a handheld navigation unit associated with a frame of reference. The handheld navigation unit is moveable with respect to a plurality of axes and is configured to send movement signals based on movement of the handheld navigation unit. A controller is configured to receive the movement signals from the handheld navigation unit and determine control signals for the robot. The control signals are configured to incrementally move the robot with respect to a point of interest removed from the robot. The point of interest is removed from a fixed point on the robot as defined by assigned coordinates. The controller is further configured to reassign the assigned coordinates following each incremental movement of the robot.

Claims

1. A robotic navigation system configured to move a robot, the robotic navigation system comprising:

a handheld navigation unit associated with a frame of reference, the handheld navigation unit moveable with respect to a plurality of axes, the handheld navigation unit configured to send movement signals based on movement of the handheld navigation unit; and

a controller configured to receive the movement signals from the handheld navigation unit and determine control signals for the robot, the control signals configured to incrementally move the robot with respect to a point of interest removed from the robot, the point of interest removed from a fixed point on the robot as defined by assigned coordinates, the controller configured to reassign the assigned coordinates following each incremental movement of the robot.

2. The robotic navigation system of claim 1 wherein the fixed point on the robot is located on a mounting flange of the robot.

3. The robotic navigation system of claim 1 wherein the point of interest is located on a stationary tool.

4. The robotic navigation system of claim 3 wherein the frame of reference associated with the handheld navigation unit is defined by the stationary tool.

5. The robotic navigation system of claim 1 wherein the frame of reference associated with the handheld navigation unit is defined by a portion of the robot including the fixed point on the robot.

6. The robotic navigation system of claim 1 wherein movement of the handheld navigation unit in one direction with respect to a given axis results in movement of the fixed point on the robot in a related direction.

7. The robotic navigation system of claim 1 wherein the handheld navigation unit includes a mount configured to engage any one of a plurality of mounting features positioned at a plurality of locations on the robot or in proximity of the robot.

8. The robotic navigation system of claim 7 wherein the plurality of mounting features include magnets configured to engage a magnet of opposite polarity on the handheld navigation unit.

9. The robotic navigation system of claim 7 wherein the plurality of mounting features includes unique identifiers.

10. The robotic navigation system of claim 9 wherein the unique identifiers are selected from one of RFID tags, barcodes, QR codes, and resistors.

11. The robotic navigation system of claim 1 wherein the controller is configured to operate in one of a world coordinate mode, a tool coordinate mode, or a remote tool mode, the frame of reference in the world coordinate mode associated with a point on a base of the robot, the frame of reference in the tool coordinate mode associated with a point on a mounting flange of the robot, and the frame of reference in the remote tool mode based on a point on a stationary tool.

12. The robotic navigation system of claim 1 wherein the controller is part of a mobile computer.

13. The robotic navigation system of claim 12 wherein the mobile computer includes a seat for the handheld navigation unit.

14. A robotic system comprising:

a robot including an arm and a mounting flange, the mounting flange moveable with respect to a point of interest, the point of interest defined by a set of assigned coordinates relative to a point on the robot;

a handheld navigation unit positioned on the robot and associated with a frame of reference, the handheld navigation unit moveable with respect to a plurality of axes, the handheld navigation unit configured to send movement signals based on movement of the handheld navigation unit; and

a controller configured to receive the movement signals from the handheld navigation unit, determine a current robot location, calculate a target location for the robot, transmit robot control signals configured to move the robot, and reassign the set of assigned coordinates based on movement of the robot.

15. The robotic system of claim 14 further comprising at least one mounting member positioned on the arm of the robot, the handheld navigation unit mounted on the mounting member.

16. The robotic system of claim 14 wherein the handheld navigation unit is positioned at a location removed from the robot.

17. The robotic system of claim 14 wherein the point of interest is a point on a stationary tool.

18. The robotic system of claim 14 wherein the robot is an articulating robot.

19. A method of controlling a robot comprising:

receiving movement signals from a handheld navigation unit;

determining a current robot location;

calculating a target location for the robot relative to a current point of interest, the current point of interest defined by assigned coordinates relative to a zero coordinate on the robot;

transmitting robot control signals configured to move the robot; and

reassign the assigned coordinates based on movement of the robot.