Programming of a robotic arm using a motion capture system
First Claim
1. A computer-implemented method comprising:
- receiving position data indicative of position of a demonstration tool;
based on the received position 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; and
providing for display of a visual simulation of the one or more robot movements within the replication control path.
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Abstract
An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes 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 also includes providing for display of a visual simulation of 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 position data indicative of position of a demonstration tool; based on the received position 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; and providing for display of a visual simulation of 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 display interface; and a control system configured to; receive position data indicative of position of the demonstration tool; based on the received position 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 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; and cause the display interface to display a visual simulation of 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 position data indicative of position of a demonstration tool; based on the received position 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; and providing for display of a visual simulation of the one or more robot movements within the replication control path.
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Specification