Altering an initially predetermined robot path

• US 9,902,065 B2
• Filed: 02/23/2016
• Issued: 02/27/2018
• Est. Priority Date: 03/09/2015
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Dzierzega, Christoph, Dinkhoff, Markus
• Primary Examiner(s): Mancho, Ronnie
• Application Number:
  US15/051,002
• Publication Number:
  US 20160263744A1
• Time in Patent Office: 735 Days
• Field of Search: 700245, 700250
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G05B 2219/40443 Conditional and iterative planning
• CPC Class Codes: G05B 2219/40496 Hierarchical, learning, recognition level controls adaptation, servo level

Abstract

A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.

Claims

1. A method for altering an initially predetermined path of a robot arrangement including at least one robot and a controller in communication with the at least one robot, the method comprising:

selecting by the controller a portion of the initially predetermined path;

modifying by the controller the selected portion of the path;

predetermining an altered path based on the modified portion of the path;

determining a deviation between the initially predetermined path and the altered path; and

triggering a reaction if the deviation fulfills a predetermined condition.

2. The method of claim 1, wherein the controller selects a portion of the initially predetermined path by user directed input to the controller.

3. The method of claim 1, wherein determining the deviation comprises determining the deviation based on a predetermined condition for selection.

4. The method of claim 1, wherein triggering the reaction comprises triggering the reaction based on a predetermined condition for selection.

5. The method of claim 1, wherein the path is predetermined at least sectionally using at least one spline.

6. The method of claim 5, wherein the path is predetermined in the selected portion using at least one spline.

7. The method of claim 1, wherein the selected portion comprises a support point of the path.

8. The method of claim 7, wherein the selected portion is the support point.

9. The method of claim 1, wherein selecting the portion of the path comprises choosing a command of a program, by which the path is initially predetermined.

10. The method of claim 1, wherein the selected portion is modified by specifying a new portion of the path.

11. The method of claim 10, wherein the selected portion is modified by approaching the new portion.

12. The method of claim 1, wherein the predetermined condition for selection includes at least one of a user selection or a feature of the selected portion of the path.

13. The method of claim 1, wherein the deviation includes at least one of:

a maximum distance between the initially predetermined path and the altered path;

or

a distance between a selected portion of the initially predetermined path and the altered path.

14. The method of claim 13, wherein the deviation is the maximum distance between the selected portion of the initially predetermined path and the altered path, or the distance between the selected portion of the initially predetermined path and the altered path.

15. The method of claim 1, wherein the condition for reaction is fulfilled if the deviation exceeds a predetermined threshold.

16. The method of claim 1, wherein the reaction comprises issuing a message.

17. The method of claim 16, wherein the message is related to the deviation.

18. The method of claim 1, wherein the reaction includes requesting permission for implementing the modification, the method further comprising discarding at least one of the modified portion or the altered path in response to the permission being denied by the user.

19. The method of claim 1, wherein the path defines a sequence of positions and/or orientations of at least one reference fixed to the robot.

20. The method of claim 19, wherein the positions and/or orientations are three-dimensional.

21. A system for altering an initially predetermined path of a robot arrangement including at least one robot, the system comprising:

means for selecting a portion of the initially predetermined path;

means for modifying the selected portion of the path;

means for predetermining an altered path based on the modified portion;

means for determining a deviation between the initially predetermined path and the altered path; and

means for triggering a reaction if the deviation fulfills a predetermined condition.

22. The system of claim 21, wherein determining the deviation comprises determining the deviation based on a predetermined condition for selection.

23. The system of claim 21, wherein the triggering the reaction comprises triggering the reaction based on a predetermined condition for selection.

24. A computer programming product having program code stored in a non-transitory computer-readable storage medium, the programming code, when executed by a computer, causes the computer to:

select a portion of an initially predetermined path;

modify the selected portion of the path;

predetermine an altered path based on the modified portion of the path;

determine a deviation between the initially predetermined path and the altered path; and

trigger a reaction if the deviation fulfills a predetermined condition.

25. The computer programming product of claim 24, wherein the computer determines the deviation based on a predetermined condition for selection.

26. The computer programming product of claim 24, wherein the computer triggers the reaction based on a predetermined condition for selection.