Method and apparatus for robot path teaching
AssigneeABB Schweiz AG
InventorsGregory F. Rossano, Remus Boca, Srinivas Nidamarthi, Thomas A. Fuhlbrigge
Life of this patent
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Abstract
A dummy tool is used to teach a robot the path the robot will follow to perform work on a workpiece to eliminate the possibility of damaging an actual tool during the training. The dummy tool provides the robot programmer an indication of potential collisions between the tool and the workpiece and other objects in the work cell when path is being taught. The dummy tool can have a detachable input/output device with a graphic user interface (GUI) that can communicate wirelessly with the robot controller. The dummy tool can also have a moveable camera attached thereto to track the relationship of the tool to objects in the work area.
Claims28
A system comprising:
- a 3D vision system operable for tracking objects;
- a dummy tool configured to represent at least a portion of an actual tool used during operation of a robot;
- a 3D model of a robot scene;
- and
- a computational device configured to define an operation path and operation commands for the robot to follow based on input from a training procedure including data captured by the 3D vision system of one or more positions and orientations of the dummy tool and the 3D model of a robot scene.
A system comprising:
- a 3D camera operable to provide a 3D robot scene;
- a dummy tool configured to replicate at least a portion of an actual tool;
- wherein a pathway and operational movement of a robot is defined by instructions from a computational device based on results from a training procedure that uses data from the 3D camera related to the dummy tool.
A method comprising:
- manipulating a dummy tool structured to mimic an actual tool;
- capturing an image of the dummy tool using a 3D vision system;
- training a robot system to form robot commands useful to move a robot along a workpath and/or work on a workpiece using the dummy tool to determine a potential interference with an object along the workpath.
Dependencies are inferred from the claim text.