Method, apparatus and system for robotic programming
AssigneeSiemens Aktiengesellschaft
InventorsAxel Rottmann, Carlos Morra
Life of this patent
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Abstract
A method, apparatus and a system are disclosed for robotic programming. In at least one embodiment of a method for robotic programming, the method includes receiving, from a controller of a robot, movement parameters reflecting movement of the robot manipulated by a user; making a first data model of a robot move, according to the movement parameters; calculating, upon the first data model touching a second data model of a virtual object, parameters of a first force to be fed back to the user for feeling touch by the robot on a physical object corresponding to the virtual object; and sending the parameters of the first force to the controller of the robot, to drive the robot to feed back the first force to the user.
Claims22
A method for robotic programming, comprising:
- manipulating, by a user, a robot by physically moving the robot via direct contact by the user;
- receiving, from a controller of a robot as a user is teaching the robot, movement parameters reflecting movement of the robot manipulated by the user;
- moving a first data model of a robot, according to the movement parameters;
- calculating, in response to the first data model touching a second data model of a virtual object, parameters of a first force to be fed back to the user for feeling touch by the robot on a physical object corresponding to the virtual object that exists in simulation only, the virtual object being a work piece;
- and
- sending the parameters of the first force to the controller of the robot, to drive the robot to feed back the first force to the user.
An apparatus for robotic programming, comprising:
- a receiver configured to receive, from a controller of a robot as a user is teaching the robot, movement parameters reflecting movement of the robot, the movement of the robot caused by the user physically moving the robot via direct contact by the user;
- a processor, configured to cause the apparatus to
- move a first data model of a robot, according to the movement parameters,
- calculate, in response to the first data model touching a second data model of a virtual object, parameters of a first force to be fed back to the user for feeling touch by the robot on a physical object corresponding to the virtual object that exists in simulation only, the virtual object being a work piece;
- and
- a transmitter, configured to send parameters of the first force to the controller of the robot, to drive the robot to feed back the first force to the user.
A non-transitory computer-readable storage media storing instructions, executable by one or more processors of a computer system, wherein execution of the instructions causes the computer system to perform at least:
- receiving, from a controller of a robot as a user is teaching the robot, movement parameters reflecting movement of the robot, the movement of the robot caused by the user physically moving the robot via direct contact by the user;
- moving a first data model of a robot, according to the movement parameters;
- calculating, in response to the first data model touching a second data model of a virtual object, parameters of a first force to be fed back to the user for feeling touch by the robot on a physical object corresponding to the virtual object that exists in simulation only, the virtual object being a work piece;
- and
- sending parameters of the first force to the controller of the robot, to drive the robot to feed back the first force to the user.
Dependencies are inferred from the claim text.