Apparatus and method for adjusting robot positioning

• US 5,675,229 A
• Filed: 09/21/1994
• Issued: 10/07/1997
• Est. Priority Date: 09/21/1994
• Status: Expired due to Fees

• Current Assignee: ABB Robotics Incorporated
• Original Assignee: ABB Robotics Incorporated
• Inventors: Thorne, Henry F.
• Primary Examiner(s): Masih, Karen
• Application Number:
  US08/309,954
• Time in Patent Office: 1,112 Days
• Field of Search: 395/80, 395/88, 395/99, 364/474.35, 364/516, 364/568, 318/568.11, 318/568.12, 318/568.15, 318/568.19, 318/568.21, 318/568.25, 318/568.1, 318/568.13, 901/1, 901/2, 901/16, 901/3, 901/8, 901/9
• US Class Current: 318/568.11
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems

Abstract

A robot control system for repositioning work points used by the robot control system at which operations occur. The work points are retrieved from the robot controller memory and plotted onto a video display for the operator to view. The operator then designates and selects a work point or work points which are to be repositioned. Using a mouse or other type of cursor control, the operator can then manipulate on the video display the points associated with the work points. After the operator has adjusted the position of the points, in the robot coordinate system, the revised points are then stored in the robot controller memory and used thereafter when positioning the robot.

Claims

1. A control system for adjusting a robot arm positionable at a point in a coordinate system from an initial position to a desired position, comprising:

memory for storing the point;

means for retrieving the point from the memory;

video display means for displaying the point at the initial position;

cursor means coupled to the video display means and movable within the video display means for indicating the point;

selector means coupled to the video display means operable for selecting the point at the initial position, the selected point being indicated by the cursor means;

electronic position adjustor means coupled to the video display means for displacing the selected point on the video imaging device from the initial position to the desired position; and

electronic means for determining the displacement of the selected point and calculating a coordinate for the desired position.

2. The control system as defined in claim 1 wherein the memory stores a plurality of points to define a set of points and the set of points is retrieved and displayed on the video display means.

3. The control system as defined in claim 2 wherein the selector means is operable to select a plurality of points of the set for sequential adjustment.

4. The control system as defined in claim 2 wherein the selector selects a plurality of the set of points for adjustment, said plurality being adjusted identically.

5. The control system as defined in claim 2 further comprising a means for displaying values on said video imaging device corresponding to the displacement within the coordinate system of the point from the initial position to the desired position.

6. The control system as defined in claim 2 further comprising a means for magnifying an area surrounding the point to provide improved resolution for adjusting the position of the selected point.

7. The control system of claim 2 wherein the display means displays the coordinates of the selected point.

8. The control system of claim 2 further comprising means for storing said calculated coordinate in said memory.

9. The control system of claim 2 wherein the display means displays the points in a selected one of a plurality of selectable views.

10. The control system as defined in claim 2 further comprising a robot controller for generating control signals to control the movement of the robot, the robot controller retrieving points from memory and advancing the robot to the points.

11. A method for adjusting a robot arm positionable at a point in a coordinate system from an initial position to a desired position, comprising:

retrieving from memory a point to be adjusted;

displaying the point at the initial position;

indicating the point on a video display through the use of a pointer;

selecting the point at the initial position, the selected point being indicated by the pointer;

displacing the selected point on the video imaging device from the initial position to the desired position; and

determining a displacement of the selected point and calculating a coordinate for the desired position.

12. The method as defined in claim 11 further comprising the step of storing a plurality of points to define a set of points and retrieving and displaying the set of points on the video display means.

13. The method as defined in claim 12 further comprising the step of sequentially adjusting more than a plurality of points of the set.

14. The method as defined in claim 12 further comprising the step of selecting for adjustment a plurality of points of the set of points, said plurality of points being displaced identically.

15. The method as defined in claim 12 further comprising the step of displaying values on said video imaging device corresponding to the displacement within the coordinate system of the point from the initial position to the desired position.

16. The method as defined in claim 12 further comprising the step of magnifying the area surrounding a selected point to provide improved resolution for adjusting the position of the selected point.

17. The method as defined in claim 12 further comprising the step of displaying the coordinates of a selected point on the video display means.

18. The method as defined in claim 12 further comprising the step of storing said calculated coordinate in said memory.

19. The method as defined in claim 12 further comprising the step of displaying the points in one of a plurality of selectable views.