Robotic system with teach pendant

• US 6,560,513 B2
• Filed: 05/15/2001
• Issued: 05/06/2003
• Est. Priority Date: 11/19/1999
• Status: Expired due to Term

• Current Assignee: Fanuc Robotics America Incorporated (Fanuc Corporation)
• Original Assignee: Fanuc Robotics America Incorporated (Fanuc Corporation)
• Inventors: Evans, Judy A., Krause, Kenneth W., Ross, Gerald A., Nowak, Glenn F., Rutledge, Gary J., Slabe, Charles F., Dinsmoor, Claude A., DeMotte, Donald D.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US09/855,421
• Publication Number:
  US 20020045970A1
• Time in Patent Office: 721 Days
• Field of Search: 700/250, 700/165, 700/173, 700/192, 700/200, 700/245, 700/249, 700/257, 700/258, 700/259, 700/260, 700/178, 700/180, 700/164, 700/264, 700/247, 318/568.12, 318/568.2, 318/568.22, 318/563, 318/568.11, 318/568.13, 318/568.24, 219/124.34, 219/125.1, 901/15, 901/41, 901/3, 901/14, 901/16, 901/42, 701/23
• US Class Current: 700/264
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: G05B 19/0426 Programming the control sequence
• CPC Class Codes: G05B 2219/23039 Remote programmer
• CPC Class Codes: G05B 2219/23051 Remote control, enter program remote, detachable programmer
• CPC Class Codes: G05B 2219/31186 TCP-IP internet protocol
• CPC Class Codes: G05B 2219/32126 Hyperlink, access to program modules and to hardware modules in www, web server, browser
• CPC Class Codes: G05B 2219/34038 Web, http, ftp, internet, intranet server

Abstract

A robotic system for a robot includes a programmable controller coupled to the robot and a teach pendant coupled to the programmable controller. The teach pendant is adapted to control the robot and includes a processor capable of operating the teach pendant and a display coupled to the processor. The teach pendant also includes a web browser. The web browser is adapted to accept input data in a standard format and display the input data on the display.

Claims

1. A teach pendant coupled to a programmable controller having a robot, comprising:

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display,

wherein the teach pendant is to act as a client and is to display a display page that is composed of data and instructions on how to display the data.

2. A teach pendant, as set forth in claim 1, wherein the teach pendant is to act as a client and the programmable controller is to act as a server.

3. A teach pendant, as set forth in claim 2, wherein the programmable controller is to compose a display page in response to a request for data from the teach pendant and to transmit the display page to the teach pendant and wherein the teach pendant is to display the display page on the display.

4. A teach pendant, as set forth in claim 1, wherein the teach pendant is to teach points in a path of the robot.

5. A teach pendant, as set forth in claim 1, wherein the display page invokes an application.

6. A teach pendant, as set forth in claim 5, wherein the application creates and sends an email message.

7. A teach pendant, as set forth in claim 5, wherein the application is to request additional display data from the programmable controller.

8. A teach pendant, as set forth in claim 7, wherein the additional display data is displayed on the display.

9. A teach pendant, as set forth in claim 7, wherein the additional display data represents a visual image.

10. A teach pendant, as set forth in claim 7, wherein the additional display data represents audio information.

11. A teach pendant, as set forth in claim 1, wherein the web browser is to display a user interface for interaction with a user.

12. A teach pendant, as set forth in claim 11, wherein the user interface invokes an application.

13. A robotic system for a robot, comprising:

a programmable controller coupled to the robot; and

a teach pendant coupled to the programmable controller to control the robot, the teach pendant including;

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display, p1 the robotic control system acting as a server and the teach pendant acting as a client in communication with the server, wherein the server composes a display page in response to a request for data from the client and transmits the display page to the client, and the client displays the display page which is composed of data and instructions on how to display the requested data.

14. A robotic system, as set forth in claim 13, wherein the teach pendant is to teach points in a path of the robot.

15. A robotic system, as set forth in claim 13, wherein the display page invokes an application.

16. A robotic system, as set forth in claim 15, wherein the application is to request additional display data from the programmable controller.

17. A robotic system, as set forth in claim 16, wherein the additional display data represents a visual image.

18. A robotic system, as set forth in claim 16, wherein the additional display data represents audio information.

19. A robotic system, as set forth in claim 13, wherein the web browser is to display a user interface.

20. A robotic system, as set forth in claim 19, wherein the user interface invokes an application.

21. A robotic system, as set forth in claim 20, wherein the application is to request a transfer of a data file between the programmable controller and the teach pendant.

22. A robotic system, as set forth in claim 19, including:

a second programmable controller; and

,

a network coupled between the programmable controller and the second programmable controller for facilitating communication between the programmable controllers.

23. A robotic system, as set forth in claim 22, wherein the teach pendant is to accept remote input data from the second programmable controller and display the remote input data on the display.

24. A robotic system for a robot, comprising:

a programmable controller coupled to the robot to act as a server;

a teach pendant coupled to the programmable controller to control the robot and to act as a client, the teach pendant including;

a processor for operating the teach pendant;

a display coupled to the processor;

a web browser running on the teach pendant for accepting input data in a standard format and display the input data on the display;

wherein the teach pendant is to display a user interface for interaction with a user on the display and to generate and deliver to the server a data request in response to a request from the user, and wherein the server is to generate a display page in response to the data request for display by the client on the display.

25. A teach pendant coupled to a programmable controller having a robot, comprising:

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display,

wherein the web browser is to display a user interface for interaction with a user and wherein the user interface invokes an application for requesting additional display data from the programmable controller in response to a request from the user.

26. A teach pendant, as set forth in claim 25, wherein the teach pendant is to act as a client and the programmable controller is to act as a server.

27. A teach pendant, as set forth in claim 26, wherein the programmable controller is to compose a display page in response to a request for data from the teach pendant and to transmit the display page to the teach pendant and wherein the teach pendant is to display the display page on the display.

28. A teach pendant, as set forth in claim 25, wherein the teach pendant is to teach points in a path of the robot.

29. A teach pendent, as set forth in claim 25, wherein the teach pendant is to act as a client and is adapted to display a display page.

30. A teach pendant, as set forth in claim 29, wherein the display page is composed of data and instructions on how to display the requested data.

31. A teach pendant, as set forth in claim 30, wherein the display page invokes an application.

32. A teach pendant, as set forth in claim 31, wherein the application creates and sends an email message.

33. A teach pendant, as set forth in claim 31, wherein the application is to request additional display data from the programmable controller.

34. A teach pendant, as set forth in claim 33, wherein the additional display data is displayed on the display.

35. A teach pendant, as set forth in claim 33, wherein the additional display data represents a visual image.

36. A teach pendant, as set forth in claim 33, wherein the additional display data represents audio information.

37. A teach pendant coupled to a programmable controller having a robot, comprising:

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display,

wherein the web browser is to display a user interface for interaction with a user and wherein the user interface invokes an application for requesting a transfer of a data file between the programmable controller, the teach pendant, and a remote computer coupled to the programmable controller.

38. A teach pendant, as set forth in claim 37, wherein the teach pendant is to act as a client and the programmable controller is to act as a server.

39. A teach pendant, as set forth in claim 38, wherein the programmable controller is to compose a display page in response to a request for data from the teach pendant and to transmit the display page to the teach pendant and wherein the teach pendant is to display the display page on the display.

40. A teach pendant, as set forth in claim 37, wherein the teach pendant is to teach points in a path of the robot.

41. A teach pendent, as set forth in claim 37, wherein the teach pendant is to act as a client and is adapted to display a display page.

42. A teach pendant, as set forth in claim 41, wherein the display page is composed of data and instructions on how to display the requested data.

43. A teach pendant, as set forth in claim 42, wherein the display page invokes an application.

44. A teach pendant, as set forth in claim 43, wherein the application creates and sends an email message.

45. A teach pendant, as set forth in claim 43, wherein the application is to request additional display data from the programmable controller.

46. A teach pendant, as set forth in claim 45, wherein the additional display data is displayed on the display.

47. A teach pendant, as set forth in claim 45, wherein the additional display data represents a visual image.

48. A teach pendant, as set forth in claim 45, wherein the additional display data represents audio information.

49. A robotic system for a robot, comprising:

a programmable controller coupled to the robot; and

a teach pendant coupled to the programmable controller to control the robot, the teach pendant including;

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display,

wherein the web browser is to display a user interface for interaction with a user and wherein the user interface invokes an application for requesting additional display data from the programmable controller in response to a request from the user.

50. A robotic system for a robot, comprising:

a programmable controller coupled to the robot; and

a teach pendant coupled to the programmable controller to control the robot, the teach pendant including;

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display,

wherein the web browser is to display a user interface for interaction with a user and wherein the user interface invokes an application for requesting operation of a program on the programmable controller in response to a request by a user.

51. A robotic system for a robot, comprising:

a programmable controller coupled to the robot; and

a teach pendant coupled to the programmable controller to control the robot, the teach pendant including;

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display,

wherein the web browser is to display a user interface for interaction with a user and wherein the user interface invokes an application for requesting a transfer of a data file between the programmable controller, the teach pendant, and a remote computer coupled to the programmable controller.

52. A robotic system for a robot, comprising:

a programmable controller coupled to the robot;

a teach pendant coupled to the programmable controller to control the robot, the teach pendant including;

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display, wherein the web browser is to display a user interface for interaction with a user;

a second programmable controller; and

a network coupled between the programmable controller and the second programmable controller for facilitating communication between the programmable controllers.

53. A robotic system, as set forth in claim 52, wherein the teach pendant is to accept remote input data from the second programmable controller and display the remote input data on the display.

54. A teach pendant coupled to a programmable controller having a robot, comprising:

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display.

55. A teach pendant, as set forth in claim 54, wherein the teach pendant is to act as a client and the programmable controller is to act as a server.

56. A teach pendant, as set forth in claim 55, wherein the programmable controller is to compose a display page in response to a request for data from the teach pendant and to transmit the display page to the teach pendant and wherein the teach pendant is to display the display page on the display.

57. A teach pendant, as set forth in claim 54, wherein the teach pendant is to teach points in a path of the robot.

58. A teach pendent, as set forth in claim 54, wherein the teach pendant is to act as a client and is adapted to display a display page.

59. A teach pendant, as set forth in claim 58, wherein the display page is composed of data and instructions on how to display the requested data.

60. A teach pendant, as set forth in claim 59, wherein the display page invokes an application.

61. A teach pendant, as set forth in claim 60, wherein the application is part of the display page.

62. A teach pendant, as set forth in claim 60, wherein the application is resident on the teach pendant.

63. A teach pendant, as set forth in claim 60, wherein the application is composed in Java.

64. A teach pendant, as set forth in claim 60, wherein the application is composed using Javascript.

65. A teach pendant, as set forth in claim 60, wherein the application is composed using ActiveX.

66. A teach pendant, as set forth in claim 60, wherein the application is composed using a native programming language.

67. A teach pendant, as set forth in claim 60, wherein the application creates and sends an email message.

68. A teach pendant, as set forth in claim 60, wherein the application is to request additional display data from the programmable controller.

69. A teach pendant, as set forth in claim 68, wherein the additional display data is displayed on the display.

70. A teach pendant, as set forth in claim 68, wherein the additional display data represents a visual image.

71. A teach pendant, as set forth in claim 70, wherein the visual image is a live image.

72. A teach pendant, as set forth in claim 70, wherein the visual image is a captured image.

73. A teach pendant, as set forth in claim 70, wherein the visual image is a series of images representing a real-time operation of the programmable controller.

74. A teach pendant, as set forth in claim 73, wherein the additional display data represents audio information.

75. A teach pendant, as set forth in claim 74, wherein the audio information is a live stream of information.

76. A teach pendant, as set forth in claim 74, wherein the audio information is a pre-recorded stream of audio.

77. A teach pendant, as set forth in claim 54, wherein the web browser is to display a user interface for interaction with a user.

78. A teach pendant, as set forth in claim 77, wherein the user interface invokes an application.

79. A teach pendant, as set forth in claim 78, wherein the application is part of the display page.

80. A teach pendant, as set forth in claim 78, wherein the application is resident on the teach pendant.

81. A teach pendant, as set forth in claim 78, wherein the application is adapted to request additional display data from the programmable controller in response to a request from the user.

82. A teach pendant, as set forth in claim 78, wherein the application is adapted to request operation of a program on the programmable controller in response to a request by the user.

83. A teach pendant, as set forth in claim 78, wherein the application is adapted to request a transfer of a file between the programmable controller and the teach pendant.

84. A teach pendant, as set forth in claim 78, wherein the application is adapted to request a transfer of a data between the programmable controller, the teach pendant, and a remote computer coupled to the programmable controller.

85. A robotic system for a robot, comprising:

a programmable controller coupled to the robot; and

a teach pendant coupled to the programmable controller to control the robot, the teach pendant including;

a processor for operating the teach pendant;

a display coupled to the processor; and

a web browser running on the teach pendant for accepting input data in a standard format and for displaying the input data on the display.

86. A robotic system, as set forth in claim 85, wherein the teach pendant is adapted to teach points in a path of the robot.

87. A robotic system, as set forth in claim 85, wherein the robotic control system is adapted to act as a server.

88. A robotic system, as set forth in claim 87, is adapted to act as a client in communication with the server and is adapted to display a display page.

89. A robotic system, as set forth in claim 88, wherein the server is adapted to compose the display page in response to a request for data from the client and to transmit the display page to the client.

90. A robotic system, as set forth in claim 89, wherein the display page is composed of data and instructions on how to display the requested data.

91. A robotic system, as set forth in claim 90, wherein the display page invokes an application.

92. A robotic system, as set forth in claim 91, wherein the application is adapted to request additional display data from the programmable controller.

93. A robotic system, as set forth in claim 92, wherein the additional display data represents a visual image.

94. A robotic system, as set forth in claim 93, wherein the visual image is a series of images representing a real-time operation of the programmable controller.

95. A robotic system, as set forth in claim 92, wherein the additional display data represents audio information.

96. A robotic system, as set forth in claim 85, wherein the web browser is adapted to display a user interface.

97. A robotic system, as set forth in claim 96, wherein the user interface invokes an application.

98. A robotic system, as set forth in claim 97, wherein the application is adapted to request additional display data from the programmable controller in response to a request from a user.

99. A robotic system, as set forth in claim 97, wherein the application is adapted to request operation of a program on the programmable controller in response to a request by a user.

100. A robotic system, as set forth in claim 97, wherein the application is adapted to request a transfer of a data file between the programmable controller and the teach pendant.

101. A robotic system, as set forth in claim 97, wherein the application is adapted to request a transfer of a data between the programmable controller, the teach pendant, and a remote computer coupled to the programmable controller.

102. A robotic system, as set forth in claim 96, including:

a second programmable controller; and

,

a network coupled between the programmable controller and the second programmable controller and being adapted to facilitate communication between the programmable controllers.

103. A robotic system, as set forth in claim 102, wherein the teach pendant is adapted to accept remote input data from the second programmable controller and display the remote input data on the display.