US 10,836,038 B2 · Learning path control

Abstract

A robot is moved along a first continuous programmed path with a robot controller executing a learning path control program without performing an operation on a workpiece. The actual movement of the robot along the first continuous programmed path is recorded. The first continuous programmed path is adjusted to create a second programmed path. The robot is moved along the second continuous programmed with the robot controller executing the learning path control program without performing the operation on the workpiece. The actual movement of the robot along the second continuous programmed path is recorded. Traces of the recorded actual movements of the robot along the first continuous programmed path and the second continuous programmed path are displayed.

Claims18

Dependent claims

A method for controlling a robot by an operator, comprising:

running a user program to cause the robot to move along a first continuous programmed path to generate a first trace representative of an actual tool center point position;
computing a path deviation between the first continuous programmed path and the first trace;
adjusting the user program by the amount of computed path deviation to create a compensated user program;
storing the first trace representative of an actual tool center point position in a memory device;
running the compensated user program to cause the robot to move along a second continuous programmed path to generate a second trace representative of an actual tool center point position;
and
displaying the first trace and the second trace;
wherein the operator selects a desired continuous path from one of the first trace and the second trace.

5 more elements

Dependencies are inferred from the claim text.

Learning path control

Life of this patent

Learning path control

Life of this patent

Abstract

Claims18