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US 10,377,041 B2Granted
Apparatus for and method of setting boundary plane
AssigneeHanwha Precision Machinery Co., Ltd.
InventorsByung Hoon Lee, Neung Hyun Kyung
Life of this patent
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Abstract
A method of setting a boundary plane includes: obtaining pose data of a robot; calculating the boundary plane in a preset relationship with a reference part of the robot based on the obtained pose data; and displaying the calculated boundary plane.
Claims19
A method of setting a boundary plane beyond which a robot should not operate, the method comprising:
- obtaining pose data of the robot;
- calculating, via a controller, a virtual plane according to a preset relationship between the virtual plane and a reference part of the robot based on the obtained pose data;
- generating the boundary plane corresponding to the calculated virtual plane;
- and
- displaying the generated boundary plane by controlling a display unit via the controller,
- wherein the obtaining of the pose data comprises receiving the pose data from a position detecting unit,
- wherein the pose data comprises position data, and
- wherein receiving of the pose data comprises receiving the position data after physical manipulation of the robot by a user as teaching of the user.
5 more elements
An apparatus for setting a boundary plane beyond which a robot should not operate, the apparatus comprising:
- a controller configured to calculate a virtual plane according to a preset relationship between the virtual plane and a reference part of the robot based on pose data of the robot, and generate the boundary plane correspond to the calculated virtual plane;
- and
- a display unit configured to display the generated boundary plane,
- wherein the controller is further configured to receive the pose data of the robot from a position detecting unit,
- wherein the pose data comprises position data,
- wherein the controller is further configured to receive the position data after physical manipulation of the robot by a user as teaching of the user, and
- wherein the controller is further configured to control the display unit to display the generated boundary plane.
4 more elements
A robot system comprising:
- a robot comprising one or more joints, wherein each of the one or more joints comprises a position detecting unit configured to generate position data of a respective joint of the one or more joints;
- an apparatus for setting a boundary plane beyond which the robot should not operate, the apparatus configured to:
- receive the position data from each position detecting unit included in the one or more joints of the robot;
- calculate a virtual plane according to a preset relationship between the virtual plane and a reference part of the robot based on the generated position data;
- and
- generate the boundary plane corresponding to the calculated virtual plane;
- and
- display the generated boundary plane,
- wherein the apparatus is further configured to receive the position data after physical manipulation of the robot by a user as teaching of the user.
6 more elements
Dependencies are inferred from the claim text.