Robotic drive control device

A non-transitory computer-readable medium storing computer-executable instructions which when executed by one or more processors result in performing operations comprising:

• receiving an indication associated with engaging an actuator in the form of a trigger on a handheld device, wherein the handheld device controls a movement of an end effector of a robot;
• recording a home location associated with where the trigger was engaged in space;
• determining an orientation of the handheld device;
• detecting a movement of the handheld device from the home location to a second location in space;
• enabling a selection between a first operational mode and a second operational mode for controlling the end effector;
• calculating a vector based on the distance and direction moved from the home location to the second location in space;
• causing the end effector of the robot to move in the same orientation as the handheld device from a stationary position that is associated with the home location while continuing to move the end effector even when the handheld device stops moving at the second location,
• wherein a speed at which the end effector moves is based on how far the handheld device is from the home location, and wherein subsequent movement of the end effector is further based on the selected operational mode;
• in the first operational mode, the current location in space of the handheld device is used as the second location in space such that movement of the end effector is based on a current position of the handheld device relative to the home location;
• in the second operational mode, a delta position defined as the last position where the handheld device made a change in direction is treated as the home location for movement, and the current location in space of the handheld device is used as the second location in space, such that movement of the end effector is based on a current position of the handheld device relative to the delta location;
• and
• updating the home location by re-engaging the trigger or by engaging another button;
• establishing a no move buffer zone to actively prevent moving the end effector while the handheld device is in the no move buffer zone.

A method comprising:

• receiving, by one or more processors, an indication associated with engaging an actuator in the form of a trigger on a handheld device, wherein the handheld device controls a movement of an end effector of a robot;
• recording a home location associated with where the trigger was engaged in space;
• determining an orientation of the handheld device;
• detecting a movement of the handheld device from the home location to a second location in space;
• enabling a selection between a first operational mode and a second operational mode for controlling the end effector;
• calculating a vector based on the distance and direction moved from the home location to the second location in space;
• causing the end effector of the robot to move in the same orientation as the handheld device from a stationary position that is associated with the home location while continuing to move the end effector even when the handheld device stops moving at the second location, wherein a speed at which the end effector moves is based on how far the handheld device is from the home location, and wherein subsequent movement of the end effector is further based on the selected operational mode;
• in the first operational mode, the current location in space of the handheld device is used as the second location in space such that movement of the end effector is based on a current position of the handheld device relative to the home location;
• in the second operational mode, a delta position defined as the last position where the handheld device made a change in direction is treated as the home location for movement, and the current location in space of the handheld device is used as the second location in space, such that movement of the end effector is based on a current position of the handheld device relative to the delta location;
• and
• updating the home location by re-engaging the trigger or by engaging another button;
• establishing a no move buffer zone to actively prevent moving the end effector while the handheld device is in the no move buffer zone.