Method and a system for programming an industrial robot
First Claim
1. A method for programming an industrial robot having a tool, to perform a process on an object while following a robot path defined by a number of waypoints, the method comprising:
- obtaining configuration data including configuration data for the tool, configuration data for the robot path and information about the position and orientation of the object in relation to the robot, obtaining a sequence of waypoints, which defines the process in relation to the object, the waypoints comprises information about desired positions of the tool in relation to the object and desired positions of process events in relation to the object, obtaining at least one distance for adjusting the position of a waypoint, deciding whether an obtained waypoint should be modified or not, based on the obtained information about the waypoints, generating a modified sequence of waypoints by modifying the waypoints in the obtained sequence of waypoints, based on said decision, the obtained distance and the obtained information about the waypoints, and generating the actual robot path based on the modified sequence of waypoints and the obtained configuration data.
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Abstract
A method for programming an industrial robot having a tool, to perform a process on an object while following a robot path defined by a number of waypoints. The method comprises: obtaining configuration data including configuration data for the tool, configuration data for the robot path and information about the position and orientation of the object in relation to the robot, obtaining a sequence of waypoints, which defines the process in relation to the object, the waypoints comprises information about desired positions of the tool in relation to the object and desired positions of process events in relation to the object, obtaining at least one distance for adjusting the position of a waypoint, deciding whether an obtained waypoint should be modified or not, based on the obtained information about the waypoints, generating a modified sequence of waypoints by modifying the waypoints in the obtained sequence of waypoints, based on said decision, the obtained distance and the obtained information about the waypoints and generating the actual robot path based on the modified sequence of waypoints and the obtained configuration data.
64 Citations
23 Claims
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1. A method for programming an industrial robot having a tool, to perform a process on an object while following a robot path defined by a number of waypoints, the method comprising:
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obtaining configuration data including configuration data for the tool, configuration data for the robot path and information about the position and orientation of the object in relation to the robot, obtaining a sequence of waypoints, which defines the process in relation to the object, the waypoints comprises information about desired positions of the tool in relation to the object and desired positions of process events in relation to the object, obtaining at least one distance for adjusting the position of a waypoint, deciding whether an obtained waypoint should be modified or not, based on the obtained information about the waypoints, generating a modified sequence of waypoints by modifying the waypoints in the obtained sequence of waypoints, based on said decision, the obtained distance and the obtained information about the waypoints, and generating the actual robot path based on the modified sequence of waypoints and the obtained configuration data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 23)
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19. A system for programming an industrial robot having a tool, to perform a process on an object while following a robot path defined by a number of waypoints, the system comprises:
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information obtaining means, obtaining information about configuration data, tool speeds and a sequence of waypoints, which defines the process in relation to the object, the waypoints comprises information about desired positions of the tool in relation to the object and desired positions of process events in relation to the object, a storage unit, for storing the obtained information, wherein the system further comprises;
means for deciding whether an obtained waypoint should be modified or not, based on the obtained information about the waypoints, means for generating a modified sequence of waypoints by modifying the waypoints in the obtained sequence of waypoints, based on said decision, a distance for adjusting the position of a waypoint and the obtained information about the waypoints, and a robot path generator, generating the actual robot path based on the modified sequence of waypoints, the tool speed and the obtained configuration data. - View Dependent Claims (20, 21, 22)
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Specification