Programming of a robotic arm using a motion capture system
First Claim
1. A computer-implemented method comprising:
- receiving data from one or more cameras indicative of position of a demonstration tool;
based on the received data, determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool;
determining a replication control path for a robotic device, wherein the replication control path comprises one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool;
causing the robotic device to move the robot tool using the one or more robot movements within the replication control path.
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Abstract
Example systems and methods allow for capturing motions of a demonstration tool and using the captured motions to cause a robotic device to replicate motions of the demonstration tool with a robot tool. One example method includes receiving data from one or more cameras indicative of position of a demonstration tool. Based on the received data, the method may further include determining a motion path of the demonstration tool, where the motion path includes a sequence of positions of the demonstration tool. The method may also include determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method may further include causing the robotic device to move the robot tool using the one or more robot movements within the replication control path.
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Citations
20 Claims
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1. A computer-implemented method comprising:
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receiving data from one or more cameras indicative of position of a demonstration tool; based on the received data, determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool; determining a replication control path for a robotic device, wherein the replication control path comprises one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool; causing the robotic device to move the robot tool using the one or more robot movements within the replication control path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A system comprising:
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a demonstration tool; a robotic device; at least one camera; and a control system configured to; receive data from the at least one camera indicative of position of the demonstration tool; based on the received data, determine a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool; determine a replication control path for the robotic device, wherein the replication control path comprises one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool; cause the robotic device to move the robot tool using the one or more robot movements within the replication control path. - View Dependent Claims (19)
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20. A non-transitory computer readable medium having stored therein instructions, that when executed by a computing system, cause the computing system to perform functions comprising:
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receiving data from one or more cameras indicative of position of a demonstration tool; based on the received data, determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool; determining a replication control path for a robotic device, wherein the replication control path comprises one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool; causing the robotic device to move the robot tool using the one or more robot movements within the replication control path.
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Specification