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US 12,643,230 B2Granted
Motion learning system and method for programming at least one robotic device
AssigneeMbda France
InventorsNicolas Gautier, Bruno Morisset, Vincent Rafin
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Abstract
The invention relates to a system which comprises a workspace (3) storage module (5), at least one pointer (6) respectively associated with a gripper (4) of a robotic device (2), a module (8) for capturing the trajectory performed by the at least one pointer (6), a post-processing module (10) for determining a compatible trajectory of the one or more grippers (4), and a saving module (11), configured to save the compatible trajectory of each of the robotic devices (2).
Claims15
A method for learning motion for programming at least one robotic device equipped with at least one effector and having at least one degree of freedom of motion, the robotic device or devices being intended to evolve in a workspace, characterised in that it comprises the following steps:
- a storage step, implemented by a workspace storage module, consisting in storing parameters representative of the workspace in which the robotic device or devices are intended to evolve;
- at least one step of driving at least one pointer, implemented by at least one user, the user or users driving at least one pointer associated respectively with an effector of a robotic device, the pointer or each of the pointers being driven by the user or users along a trajectory which is intended to be made in the workspace by the effector or by each of the effectors, the pointer or each of the pointers being representative of one or more functions to be made by the effector or effectors with which the pointer or each of the pointers is associated;
- a trajectory capture step, implemented by a trajectory capture module, consisting in storing the trajectory made by the pointer or by each of the pointers as well as in storing parameters of the trajectory made by the pointer or by each of the pointers;
- a post-processing step, implemented by a post-processing module, consisting in determining for each of the robotic devices:
- a trajectory compatible of the effector or effectors with the degree or degrees of freedom of motion of the robotic device or of each of the robotic devices from the trajectory made by the pointer or by each of the pointers stored in the trajectory capture step and
- compatible parameters of said compatible trajectory of the effector or effectors from the parameters stored in the trajectory capture step;
- a saving step, implemented by a saving module, consisting in saving the compatible trajectory and the compatible parameters of the robotic device or of each of the robotic devices;
- and
- a step for visualizing the trajectory, implemented by a visualisation module for visualizing the trajectory, consisting in visualizing the trajectory made by the pointer or by each of the pointers with respect to the parameters representative of the workspace, the visualisation step comprising an alerting sub-step implemented by an alert sub-module, the alerting sub-step consisting in alerting the user of an incompatible trajectory of the pointer or of at least one of the pointers, the trajectory being incompatible when the degree or the degrees of freedom of the robotic device or devices do not allow said trajectory to be made by the robotic device or devices with which the pointer or pointers are associated.
6 more elements
A motion learning system for programming at least one robotic device equipped with at least one effector and having at least one degree of freedom of motion, wherein the robotic device or devices are intended to evolve in a workspace,
- characterised in that it comprises:
- a workspace storage module, configured to store parameters representative of the workspace;
- at least one pointer, the pointer or each of the pointers being associated respectively with an effector of a robotic device, the pointer or each of the pointers being configured so as to be driven by at least one user according to a trajectory which is intended to be made in the workspace by the effector or by each of the effectors, the pointer or each of the pointers being representative of one or more functions to be carried out by the effector or by the effectors with which the pointer or each of the pointers is associated;
- a trajectory capture module configured to store the trajectory made by the pointer or by each of the pointers and to store parameters of the trajectory made by the pointer or by each of the pointers;
- a post-processing module, configured to determine for each of the robotic devices:
- a compatible trajectory of the effector or effectors with the degree or degrees of freedom of motion of the robotic device or of each of the robotic devices from the trajectory made by the pointer or by each of the pointers stored by the trajectory capture module and
- compatible parameters of said compatible trajectory of the effector or effectors from the parameters stored by the trajectory capture module;
- a saving module, configured to save the compatible trajectory and the compatible parameters of the robotic device or of each of the robotic devices;
- and
- a visualisation module for visualizing the trajectory, the visualisation module configured to visualise the trajectory made by the pointer or by each of the pointers with respect to the parameters representative of the workspace, the visualisation module comprising an alert sub-module configured to alert the user of an incompatible trajectory of the pointer or of at least one of the pointers, the trajectory being incompatible if the degree or the degrees of freedom of the robotic device or devices do not allow said trajectory to be made by the effector or effectors with which the pointer or pointers are associated.
7 more elements
Dependencies are inferred from the claim text.