Semi-Autonomous Multi-Use Robot System and Method of Operation
First Claim
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1. A robot system comprising:
- a robot that includes an arm having multiple degrees of freedom of movement;
environmental data regarding an operating environment surrounding the robot; and
an operator station located remotely from the robot, the operator station including operator input device, a computer and associated software that is configured to employ a motion planning algorithm in combination with the environmental data to;
(1) define surfaces within the operating environment;
(2) define a path for the robot within the operating environment that avoids any collisions between the robot and the surfaces; and
(3) control movement of the robot along the path.
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Abstract
A semi-autonomous robot system (10) that includes scanning and scanned data manipulation that is utilized for controlling remote operation of a robot system within an operating environment.
21 Citations
21 Claims
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1. A robot system comprising:
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a robot that includes an arm having multiple degrees of freedom of movement; environmental data regarding an operating environment surrounding the robot; and an operator station located remotely from the robot, the operator station including operator input device, a computer and associated software that is configured to employ a motion planning algorithm in combination with the environmental data to;
(1) define surfaces within the operating environment;
(2) define a path for the robot within the operating environment that avoids any collisions between the robot and the surfaces; and
(3) control movement of the robot along the path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A robot system comprising:
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a robot that includes an arm having multiple degrees of freedom of movement; environmental data regarding an operating environment surrounding the robot; and an operator station located remotely from the robot, the operator station including an operator input device for receiving commands and a computer and associated software that is configured to employ a motion planning algorithm in combination with the environmental data and the commands to;
(1) voxelize the environmental data;
(2) utilize the voxelized environmental data to define surfaces within the operating environment;
(3) utilize the voxelized environmental data to define a path for the robot within the operating environment that avoid collisions between the robot and the surfaces defined within the operating environment; and
(4) control movement of the robot along the path. - View Dependent Claims (10, 11, 12, 13)
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14. A method for operating a robot system including a robot having an arm with multiple degrees of freedom of movement and an operator station located remotely from the robot, the arm of the robot carrying a tool and the operator station being configured to control movement of the robot, said method comprising:
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(a) collecting data regarding an operating environment surrounding the robot; (b) defining surfaces within the operating environment; (c) selecting, with an operator input device, a desired position for the tool in Cartesian space within the operating environment; (d) determining a path for moving the tool to the desired position selected in step (c) that avoids any collisions between the robot and the surfaces defined in step (b); and (e) moving the tool to the position selected in step (c) via the path determined in step (d). - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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Specification