DEVICE AND METHOD FOR PROCESSING A ROBOT CONTROL PROGRAM

• US 20090299526A1
• Filed: 05/11/2007
• Published: 12/03/2009
• Est. Priority Date: 05/13/2006
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Ditscher, Christof, Huggenberger, Ulrich, Stumpfegger, Thomas
• Granted Patent: US 8,332,067 B2
• Time in Patent Office: Days
• US Class Current: 700/264
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems

Abstract

In a computerized device for processing a robot control program, at least one local area of a robot path of a robot is displayed at a display screen, the robot path containing a support point that is to be modified. The display screen also shows the support point, as well as a path course therethrough and at least one direction also proceeding through the support point perpendicularly to the path course. An input device allows a user to modify the path course by modifying the position of the support at the display screen.

Claims

1-22. -22. (canceled)

23. In a system for operating a robot according to a robot control program, the improvement of a device for processing said robot control program comprising:

a display screen;

a processor configured to display a representation, at said display screen, of at least one local area of a robot path of said robot, said robot path comprising at least one support point therein;

said processor being configured to also display, at said display screen, said support point, as a support point to be modified and being configured to display a path course of said robot path through said support point and to simultaneously display at least one direction proceeding through the support point perpendicularly to said path course; and

a user interface connected to said processor allowing a user to manually modify said path course on said display screen, by modifying said support point on said display screen, thereby to modify said robot path.

24. The improvement of claim 23 wherein said processor is configured to depict said path course at said display screen as a tangent of said robot path at said support point.

25. The improvement of claim 23 wherein said processor is configured to also depicting a plane perpendicular to said path course at said display screen.

26. The improvement of claim 25 wherein said processor is configured to depict said plane as a circular disc.

27. The improvement of claim 23 wherein said processor is configured to allow selective enlargement of the representation of said robot path at said display screen in a primary plane of a Cartesian coordinate system, or in a selected plane.

28. The improvement of claim 27 wherein said processor is also configured to selectively enlarge the representation of said path course at said display screen.

29. The improvement of claim 27 wherein said processor is configured to also depicting a representation of a position of the robot relative to the path course at said display screen.

30. The improvement of claim 27 wherein said processor is configured to depict a direction of a position of the robot relative to the path course by a marking located at an edge of a presentation region of said display screen.

31. The improvement of claim 23 wherein said processor is configured to allow displacement, in response to an input entered via said user interface, of the support point toward a programmed path in said robot control program.

32. The improvement of claim 31 wherein said processor is configured to depict a plane, formed by a circular disc perpendicular to said programmed path, by rotation, via said user interface, of an arrow in said circular disc, around a surface normal of said circular disc.

33. The improvement of claim 32 wherein said processor is configured to cause displacement, via said user interface, of said support point along said arrow in a direction of an offset of said support point perpendicular to said programmed path.

34. A method for operating a robot according to a robot control program comprising the steps of:

automatically displaying a representation, at a display screen, of at least one local area of a robot path of said robot, said robot path comprising at least one support point therein;

also automatically displaying, at said display screen, said support point, as a support point to be modified and displaying a path course of said robot path through said support point and simultaneously displaying at least one direction proceeding through the support point perpendicularly to said path course; and

via a user interface connected to said processor, allowing a user to manually modify said path course on said display screen, by modifying said support point on said display screen, thereby to modify said robot path.

35. The method of claim 34 comprising depicting said path course at said display screen as a tangent of said robot path at said support point.

36. The method of claim 34 comprising also depicting a plane perpendicular to said path course at said display screen.

37. The method of claim 36 comprising depicting said plane as a circular disc.

38. The method of claim 34 wherein comprising allowing selective enlargement of the representation of said robot path at said display screen in a primary plane of a Cartesian coordinate system, or in a selected plane.

39. The method of claim 38 comprising also selectively enlarging the representation of said path course at said display screen.

40. The method of claim 38 wherein comprising also depicting a representation of a position of the robot relative to the path course at said display screen.

41. The method of claim 38 wherein comprising depicting a direction of a position of the robot relative to the path course by a marking located at an edge of a presentation region of said display screen.

42. The method of claim 34 comprising allowing displacement, in response to an input entered via said user interface, of the support point toward a programmed path in said robot control program.

43. The method of claim 42 comprising depicting a plane, formed by a circular disc perpendicular to said programmed path, by rotation, via said user interface, of an arrow in said circular disc, around a surface normal of said circular disc.

44. The method of claim 43 comprising causing displacement, via said user interface, of said support point along said arrow in a direction of an offset of said support point perpendicular to said programmed path.