Interface apparatus for dynamic positioning and orientation of a robot through real-time parameter modifications

• US 6,642,922 B1
• Filed: 02/19/1999
• Issued: 11/04/2003
• Est. Priority Date: 02/25/1998
• Status: Expired due to Fees

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Noda, Akira
• Primary Examiner(s): Bella, Matthew C.
• Assistant Examiner(s): BLACKMAN, ANTHONY J
• Application Number:
  US09/252,830
• Time in Patent Office: 1,719 Days
• Field of Search: 345/473-475, 345/419, 700/245-264, 606/130, 318/566, 318/568.1, 434/262, 378/42
• US Class Current: 345/419
• 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
• CPC Class Codes: G05B 2219/40131 Virtual reality control, programming of manipulator
• CPC Class Codes: G05B 2219/40169 Display of actual situation at the remote site
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A display plane shown in the computer graphics for displaying an arbitrary plane in a three-dimensional space is mapped to a movable range of an end effector of a robot. The movable range is limited to a displayed two-dimensional plane. A user moves and positions the end effector on the display plane.

Claims

1. An interface apparatus comprising:

a plane designation unit to designate an arbitrary plane, on which a robot moves to be positioned, in a three-dimensional space, by arbitrarily changing a position and an orientation of the plane in the three-dimensional space according to a parameter value that is changed dynamically; and

a display unit to graphically display an image of the robot on the designated arbitrary plane for positioning the robot,

wherein the plane designation unit designates the arbitrary plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

2. The apparatus according to claim 1, further comprising:

a position designation unit to designate a target position of a specific portion of the robot on a displayed screen.

3. The apparatus according to claim 2, further comprising:

an orientation designation unit to designate a target orientation of the specific portion of the robot on the displayed screen.

4. The apparatus according to claim 2, wherein:

said display unit graphically displays an image of the specific portion of the robot at the target position when the target position is designated.

5. The apparatus according to claim 2, further comprising:

a mapping unit to associate the designated plane with a plane on the displayed screen, wherein

said position designation unit limits a movable range, of the specific portion of the robot, to the designated plane.

6. An interface apparatus comprising:

a plane designation unit to designate an arbitrary plane, on which a robot moves to be positioned, in a three-dimensional space; and

a display unit to graphically display an image of the robot on the designated arbitrary plane for positioning the robot,

wherein said plane designation unit designates the arbitrary plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

7. An interface apparatus, comprising:

a mapping unit to associate a plane, on which a robot moves to be positioned, in a three-dimensional space, with a display plane;

a display unit to graphically display on the display plane an image of the robot on the plane in the three-dimensional space for positioning the robot;

a plane designation unit to designate a parameter indicating an arbitrary position and an arbitrary orientation of the plane in the three-dimensional space; and

a change unit to arbitrarily change the position and the orientation of the plane in the three-dimensional space by changing the parameter dynamically,

wherein the plane designation unit designates the plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

21. The interface apparatus of claim 7, wherein the plane designation unit designates the arbitrary plane using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space.

8. A computer-readable storage medium for storing a program used to direct a computer to perform operations comprising:

setting an arbitrary plane, on which a robot moves to be positioned, in a three-dimensional space, by arbitrarily changing a position and an orientation of the plane in the three-dimensional space according to a parameter value that is changed dynamically; and

graphically displaying an image of the robot on the set plane for positioning the robot,

wherein the setting designates the arbitrary plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

9. The computer-readable storage medium according to claim 8, further storing a program used to direct a computer to perform operations comprising setting a target position of a specific portion of the robot on the displayed screen.

22. The computer-readable storage medium of claim 8, wherein the setting an arbitrary plane comprises designating the arbitrary plane using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space.

10. A computer-readable storage medium for storing a program used to direct a computer to perform operations comprising:

associating a plane, on which a robot moves to be positioned, in a three-dimensional space with a display plane;

graphically displaying on the display plane an image of the robot on the plane in the three-dimensional space for positioning the robot;

setting a parameter indicating an arbitrary position and an arbitrary orientation of the plane in the three-dimensional space; and

arbitrarily changing the position and the orientation of the plane in the three-dimensional space by amending the parameter dynamically,

wherein the setting designates the plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

23. The computer-readable storage medium of claim 10, wherein the associating a plane comprises designating the plane using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space.

11. An interface apparatus comprising:

a plane designation unit to designate an arbitrary plane, on which a robot makes complex movements to be positioned, in a three-dimensional space, by arbitrarily changing a position and an orientation of the plane in the three-dimensional space according to a parameter value that is changed dynamically; and

a display unit to graphically display an image of the robot on the designated arbitrary plane for positioning the robot,

wherein the plane designation unit designates the arbitrary plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

12. The apparatus according to claim 11, further comprising a position designation unit to designate a target position of a specific portion of the robot on a displayed screen.

13. The apparatus according to claim 12, further comprising an orientation designation unit to designate a target orientation of the specific portion of the robot on the displayed screen.

14. The apparatus according to claim 12, wherein the display unit graphically displays an image of the specific portion of the robot at the target position when the target position is designated.

15. The apparatus according to claim 12, further comprising a mapping unit to associate the designated plane with a plane on the displayed screen, wherein the position designation unit limits a movable range, of the specific portion of the robot, to the designated plane.

16. An interface apparatus comprising:

a plane designation unit to designate an arbitrary plane, on which a robot makes complex movements to be positioned, in a three-dimensional space; and

a display unit to graphically display an image of the robot on the designated arbitrary plane for positioning the robot,

wherein the plane designation unit designates the arbitrary plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

17. An interface apparatus, comprising:

a mapping unit to associate a plane, on which a robot makes complex movements to be positioned in a three-dimensional space, with a display plane;

a display unit to graphically display on the display plane an image of the robot on the plane in the three-dimensional space for positioning the robot;

a plane designation unit to designate a parameter indicating an arbitrary position and an arbitrary orientation of the plane in the three-dimensional space; and

a change unit to arbitrarily change the position and the orientation of the plane in the three-dimensional space by changing the parameter dynamically,

wherein the plane designation unit designates the plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

24. The interface apparatus of claim 17, wherein the plane designation unit designates the arbitrary plane using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space.

18. A computer-readable storage medium for storing a program used to direct a computer to perform operations comprising:

setting an arbitrary plane, on which a robot makes complex movements to be positioned, in a three-dimensional space, by arbitrarily changing a position and an orientation of the plane in the three-dimensional space according to a parameter value that is changed dynamically; and

graphically displaying an image of the robot on the set plane for positioning the robot,

wherein the setting designates the arbitrary plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

19. The computer-readable storage medium according to claim 18, further storing a program used to direct a computer to perform operations comprising setting a target position of a specific portion of the robot on the displayed screen.

25. The computer-readable storage medium of claim 18, wherein the setting an arbitrary plane comprises designating the arbitrary plane using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space.

20. A computer-readable storage medium for storing a program used to direct a computer to perform operations comprising:

associating a plane, on which a robot makes complex movements to be positioned, in a three-dimensional space with a display plane;

graphically displaying on the display plane an image of the robot on the plane in the three-dimensional space for positioning the robot;

setting a parameter indicating an arbitrary position and an arbitrary orientation of the plane in the three-dimensional space; and

arbitrarily changing the position and the orientation of the plane in the three-dimensional space by amending the parameter dynamically,

wherein the setting designates the plane by using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space and by arbitrarily changing a radius of the sphere and a position of a contact point of the tangent plane on the sphere.

26. The computer-readable storage medium of claim 20, wherein the associating a plane comprises designating the plane using a tangent plane in contact with a surface of a virtual sphere in the three-dimensional space.