Method and apparatus for tuning robot path for processing workpiece
AssigneeABB Schweiz AG
InventorsZhongyu Li, Lei Mao, Wenyao Shao
Life of this patent
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Abstract
An apparatus, a system, and a method for tuning a robot path for processing a workpiece. The method includes overlapping a visual representation of the robot path on a visual presentation of the workpiece. The visual presentation of the robot path includes at least one virtual point that corresponds to at least one controlling point in the robot path. The method further includes in response to receiving a user input for moving a virtual point in the at least one virtual point relative to the visual presentation of the workpiece, detecting an updated position of the virtual point caused by the user input; and tuning the robot path based on the updated position of the virtual point.
Claims21
A method of tuning a robot path for processing a workpiece, comprising:
- overlapping a visual representation of the robot path on a visual representation of the workpiece, the visual representation of the robot path comprising at least one virtual point that corresponds to at least one controlling point in the robot path;
- wherein overlapping the visual representation of the robot path on the visual representation of the workpiece comprises:
- identifying a first reference feature for the robot path;
- identifying a second reference feature corresponding to the first reference feature for the visual representation of the workpiece;
- and
- aligning the visual representation of the robot path and the visual representation of the workpiece based on the first reference feature and the second reference feature;
- in response to receiving a user input for moving a virtual point in the at least one virtual point relative to the visual representation of the workpiece, detecting an updated position of the virtual point caused by the user input;
- tuning the robot path based on the updated position of the virtual point;
- determining a direction between the virtual point and the updated position of the virtual point;
- using the first reference feature and the second reference feature to apply at least one permittable distance threshold based on the direction,
- wherein a first threshold of the at least one permittable distance threshold is applied if the direction is towards the visual representation of the workpiece and a second threshold of the at least one permittable distance threshold is applied if the direction is away from the visual representation of the workpiece,
- wherein the first threshold and the second threshold are different.
An apparatus for tuning a robot path for processing a workpiece, comprising:
- a displaying unit adapted to at least display a visual representation of the robot path;
- and
- a computing unit comprising:
- an overlapping unit adapted to overlap the visual representation of the robot path on a visual representation of the workpiece, the visual representation of the robot path comprising at least one virtual point that corresponds to at least one controlling point in the robot path;
- wherein the overlapping unit comprises:
- an identifying unit adapted to identify a first reference feature for the robot path and a second reference feature corresponding to the first reference feature for the visual representation of the workpiece;
- and
- an aligning unit adapted to align the visual representation of the robot path and the visual representation of the workpiece based on the first reference feature and the second reference feature;
- a detecting unit adapted to, in response to receiving a user input for moving a virtual point in the at least one virtual point relative to the visual representation of the workpiece;
- detect an updated position of the virtual point caused by the user input;
- determine a direction between the virtual point and the updated position of the virtual point;
- and
- use the first reference feature and the second reference feature, apply at least one permittable distance threshold based on the direction,
- wherein a first threshold of the at least one permittable distance threshold is applied if the direction is towards the visual representation of the workpiece and a second threshold of the at least one permittable distance threshold is applied if the direction is away from the visual representation of the workpiece,
- wherein the first threshold and the second threshold are different;
- and
- a tuning unit adapted to tune the robot path based on the updated position of the virtual point.
Dependencies are inferred from the claim text.