Method and apparatus for integrated simulation
First Claim
Patent Images
1. An integrated simulation system comprising:
- an instantiation of a workcell comprising a selected one of;
both;
a workcell adapted to;
receive a workcell action; and
provide a workcell response; and
a workcell emulator adapted to imitate said workcell and to;
receive said workcell action; and
generate a simulacrum of said workcell; and
a workcell simulator adapted to model said workcell and to;
receive said workcell action;
provide a simulated workcell response; and
generate said simulacrum of said workcell;
an instantiation of a robot manipulator comprising a selected one of;
both;
a robot manipulator adapted to;
receive a robot manipulator action; and
provide a robot manipulator response; and
a robot manipulator emulator adapted to imitate said robot manipulator and to;
receive said robot manipulator action; and
generate a simulacrum of said robot manipulator; and
a robot manipulator simulator adapted to model said robot manipulator and to;
receive said robot manipulator action;
provide a simulated robot manipulator response; and
generate said simulacrum of said robot manipulator;
a computing device adapted to;
simultaneously display;
said simulacrum of said selected workcell instantiation;
a first visualization of said response of said selected workcell instantiation;
said simulacrum of said selected robot manipulator instantiation; and
a second visualization of said response of said selected robot manipulator instantiation; and
receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and
a programmable logic controller (PLC) comprising;
a workcell controller module adapted to;
receive said workcell action from said computing device, and, in response, provide said workcell action to said selected workcell instantiation; and
receive said response from said selected workcell instantiation, and, in response, provide said workcell response to said computing device; and
a robot manipulator controller module adapted to;
receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said selected robot manipulator instantiation; and
receive said response from said selected robot manipulator instantiation, and, in response, provide said robot manipulator response to said computing device.
2 Assignments
0 Petitions
Accused Products
Abstract
In an automated system which includes a robot manipulator, a workcell, and a control system implemented on a hardware platform based on a programmable logic controller (“PLC”), a method and apparatus for performing integrated simulation that does not require the presence of both the robot manipulator and the workcell. If one component is real, the other component is simulated so as to be sufficiently responsive to responses from the real component such that the real component is unable to discern that the other component is not also real. A computing device simultaneously displays simulacra of both the components, real and simulated, and visualizations of the responses provided by each.
7 Citations
95 Claims
-
1. An integrated simulation system comprising:
-
an instantiation of a workcell comprising a selected one of; both; a workcell adapted to; receive a workcell action; and provide a workcell response; and a workcell emulator adapted to imitate said workcell and to; receive said workcell action; and generate a simulacrum of said workcell; and a workcell simulator adapted to model said workcell and to; receive said workcell action; provide a simulated workcell response; and generate said simulacrum of said workcell; an instantiation of a robot manipulator comprising a selected one of; both; a robot manipulator adapted to; receive a robot manipulator action; and provide a robot manipulator response; and a robot manipulator emulator adapted to imitate said robot manipulator and to; receive said robot manipulator action; and generate a simulacrum of said robot manipulator; and a robot manipulator simulator adapted to model said robot manipulator and to; receive said robot manipulator action; provide a simulated robot manipulator response; and generate said simulacrum of said robot manipulator; a computing device adapted to; simultaneously display; said simulacrum of said selected workcell instantiation; a first visualization of said response of said selected workcell instantiation; said simulacrum of said selected robot manipulator instantiation; and a second visualization of said response of said selected robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said selected workcell instantiation; and receive said response from said selected workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said selected robot manipulator instantiation; and receive said response from said selected robot manipulator instantiation, and, in response, provide said robot manipulator response to said computing device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
-
-
21. An integrated simulation system comprising:
-
an instantiation of a workcell comprising; a workcell simulator adapted to model said workcell and to; receive a workcell action; provide a simulated workcell response; and generate a simulacrum of said workcell; an instantiation of a robot manipulator comprising a selected one of; both; a robot manipulator adapted to; receive a robot manipulator action; and provide a robot manipulator response; and a robot manipulator emulator adapted to imitate said robot manipulator and to; receive said robot manipulator action; and generate a simulacrum of said robot manipulator; and a robot manipulator simulator adapted to model said robot manipulator and to; receive said robot manipulator action; provide a simulated robot manipulator response; and generate said simulacrum of said robot manipulator; a computing device adapted to; simultaneously display; said simulacrum of said workcell instantiation; a first visualization of said response of said workcell instantiation; said simulacrum of said selected robot manipulator instantiation; and a second visualization of said response of said selected robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said workcell instantiation; and receive said response from said workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said selected robot manipulator instantiation; and receive said response from said selected robot manipulator instantiation, and, in response, provide said robot manipulator response to said computing device. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
-
-
33. An integrated simulation system comprising:
-
an instantiation of a workcell comprising; both; a workcell adapted to; receive a workcell action; and provide a workcell response; and a workcell emulator adapted to imitate said workcell and to; receive said workcell action; and generate a simulacrum of said workcell; and an instantiation of a robot manipulator comprising a selected one of; both; a robot manipulator adapted to; receive a robot manipulator action; and provide a robot manipulator response; and a robot manipulator emulator adapted to imitate said robot manipulator and to; receive said robot manipulator action; and generate a simulacrum of said robot manipulator; and a robot manipulator simulator adapted to model said robot manipulator and to; receive said robot manipulator action; provide a simulated robot manipulator response; and generate said simulacrum of said robot manipulator; a computing device adapted to; simultaneously display; said simulacrum of said workcell instantiation; a first visualization of said response of said workcell instantiation; said simulacrum of said selected robot manipulator instantiation; and a second visualization of said response of said selected robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said workcell instantiation; and receive said response from said workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said selected robot manipulator instantiation; and receive said response from said selected robot manipulator instantiation, and, in response, provide said robot manipulator response to said computing device. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
-
-
45. An integrated simulation system comprising:
-
an instantiation of a workcell comprising a selected one of; both; a workcell adapted to; receive a workcell action; and provide a workcell response; and a workcell emulator adapted to imitate said workcell and to; receive said workcell action; and generate a simulacrum of said workcell; and a workcell simulator adapted to model said workcell and to; receive said workcell action; provide a simulated workcell response; and generate said simulacrum of said workcell; and an instantiation of a robot manipulator comprising; a robot manipulator simulator adapted to model said robot manipulator and to; receive a robot manipulator action; provide a simulated robot manipulator response; and generate a simulacrum of said robot manipulator; a computing device adapted to; simultaneously display; said simulacrum of said selected workcell instantiation; a first visualization of said response of said selected workcell instantiation; said simulacrum of said robot manipulator instantiation; and a second visualization of said response of said robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said selected workcell instantiation; and receive said response from said selected workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said robot manipulator instantiation; and receive said response from said robot manipulator instantiation, and, in response, provide said robot manipulator action to said computing device. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52, 53, 54)
-
-
55. An integrated simulation system comprising:
-
an instantiation of a workcell comprising a selected one of; both; a workcell adapted to; receive a workcell action; and provide a workcell response; and a workcell emulator adapted to imitate said workcell and to; receive said workcell action; and generate a simulacrum of said workcell; and a workcell simulator adapted to model said workcell and to; receive said workcell action; provide a simulated workcell response; and generate said simulacrum of said workcell; an instantiation of a robot manipulator comprising; both; a robot manipulator adapted to; receive a robot manipulator action; and provide a robot manipulator response; and a robot manipulator emulator adapted to imitate said robot manipulator and to; receive said robot manipulator action; and generate a simulacrum of said robot manipulator; and a computing device adapted to; simultaneously display; said simulacrum of said selected workcell instantiation; a first visualization of said response of said selected workcell instantiation; said simulacrum of said robot manipulator instantiation; and a second visualization of said response of said robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said selected workcell instantiation; and receive said response from said selected workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said robot manipulator instantiation; and receive said response from said robot manipulator instantiation, and, in response, provide said robot manipulator response to said computing device. - View Dependent Claims (56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69)
-
-
70. An integrated simulation system comprising:
-
an instantiation of a workcell comprising; both; a workcell adapted to; receive a workcell action; and provide a workcell response; and a workcell emulator adapted to imitate said workcell and to; receive said workcell action; and generate a simulacrum of said workcell; and an instantiation of a robot manipulator comprising; a robot manipulator simulator adapted to model said robot manipulator and to; receive a robot manipulator action; provide a simulated robot manipulator response; and generate a simulacrum of said robot manipulator; a computing device adapted to; simultaneously display; said simulacrum of said workcell instantiation; a first visualization of said response of said workcell instantiation; said simulacrum of said robot manipulator instantiation; and a second visualization of said response of said robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said workcell instantiation; and receive said response from said workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said robot manipulator instantiation; and receive said response from said robot manipulator instantiation, and, in response, provide said robot manipulator response to said computing device. - View Dependent Claims (71, 72, 73, 74, 75)
-
-
76. An integrated simulation system comprising:
-
an instantiation of a workcell comprising; a workcell simulator adapted to model said workcell and to; receive a workcell action; provide a simulated workcell response; and generate a simulacrum of said workcell; an instantiation of a robot manipulator comprising; both; a robot manipulator adapted to; receive a robot manipulator action; and provide a robot manipulator response; and a robot manipulator emulator adapted to imitate said robot manipulator and to; receive said robot manipulator action; generate a simulacrum of said robot manipulator; and a computing device adapted to; simultaneously display; said simulacrum of said workcell instantiation; a first visualization of said response of said workcell instantiation; said simulacrum of said robot manipulator instantiation; and a second visualization of said response of said robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said workcell instantiation; and receive said response from said workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said robot manipulator instantiation; and receive said response from said robot manipulator instantiation, and, in response, provide said robot manipulator response to said computing device. - View Dependent Claims (77, 78, 79, 80, 81, 82, 83, 84)
-
-
85. An integrated simulation system comprising:
-
an instantiation of a workcell comprising; a workcell simulator adapted to model said workcell and to; receive a workcell action; provide a simulated workcell response; and generate a simulacrum of said workcell; an instantiation of a robot manipulator comprising; a robot manipulator simulator adapted to model said robot manipulator and to; receive a robot manipulator action; provide a simulated robot manipulator response; and generate a simulacrum of said robot manipulator; a computing device adapted to; simultaneously display; said simulacrum of said workcell instantiation; a first visualization of said response of said workcell instantiation; said simulacrum of said robot manipulator instantiation; and a second visualization of said response of said robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said workcell instantiation; and receive said response from said workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said robot manipulator instantiation; and receive said response from said robot manipulator instantiation, and, in response, provide said robot manipulator action to said computing device. - View Dependent Claims (86, 87, 88, 89, 90)
-
-
91. An integrated simulation system comprising:
-
an instantiation of a workcell comprising; a workcell adapted to; receive a workcell action; and provide a workcell response; and an instantiation of a robot manipulator comprising; a robot manipulator simulator adapted to model said robot manipulator and to; receive said robot manipulator action; provide a simulated robot manipulator response; and generate said simulacrum of said robot manipulator; a computing device adapted to; simultaneously display; a first visualization of said response of said workcell instantiation; said simulacrum of said robot manipulator instantiation; and a second visualization of said response of said robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said workcell instantiation; and receive said response from said workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said robot manipulator instantiation; and receive said response from said robot manipulator instantiation, and, in response, provide said robot manipulator action to said computing device. - View Dependent Claims (92)
-
-
93. An integrated simulation system comprising:
-
an instantiation of a workcell comprising; a workcell simulator adapted to model said workcell and to; receive a workcell action; provide a simulated workcell response; and generate a simulacrum of said workcell; an instantiation of a robot manipulator comprising; a robot manipulator adapted to; receive a robot manipulator action; and provide a robot manipulator response; and a computing device adapted to; simultaneously display; said simulacrum of said workcell instantiation; a first visualization of said response of said workcell instantiation; and a second visualization of said response of said robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising; a workcell controller module adapted to; receive said workcell action from said computing device, and, in response, provide said workcell action to said workcell instantiation; and receive said response from said workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to; receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said robot manipulator instantiation; and receive said response from said robot manipulator instantiation, and, in response, provide said robot manipulator response to said computing device. - View Dependent Claims (94, 95)
-
Specification
-
- Resources
Litigation Campaign Assessment
Thank you for your request. You will receive a custom alert email when the Litigation Campaign Assessment is available.
×
-
Current AssigneeYaskawa Innovation, Inc. (Yaskawa Electric Corporation)
-
Original AssigneeAgile Planet, Inc.
-
InventorsKapoor, Chetan, March, Peter S.
-
Primary Examiner(s)PHAN, THAI Q
-
Application NumberUS12/910,124Publication NumberTime in Patent Office1,264 DaysField of Search703/2, 703/7, 703/13, 700/97, 700/106, 700/245, 700/248, 700/21US Class Current703/7CPC Class CodesG05B 19/0426 Programming the control seq...G05B 19/41885 characterised by modeling, ...G05B 2219/13174 Pc, computer connected to p...G05B 2219/23446 HIL hardware in the loop, s...G05B 2219/23453 Pc simulates equipment and ...G05B 2219/32357 Simulation of material hand...G06F 30/20 Design optimisation, verifi...Y02P 90/02 Total factory control, e.g....Y02P 90/80 Management or planning
