Method of and Apparatus for Automated Path Learning

A computer program product for programming a robot, said robot having a force sensor and a real or tangible tool fixture for cooperating with a workpiece having a known contour and a controller, said computer program product comprising:

• computer usable program code configured to record a plurality of gross spatial relationships between said tool fixture and said workpiece contour;
• computer usable program code configured to define from said plurality of gross spatial relationships between said tool fixture and said workpiece contour a first path for movement of said tool fixture relative to said workpiece contour, said first path including said gross spatial relationships;
• computer usable program code configured to move said tool fixture using said first path as a guide;
• computer usable program code configured to determine whether said moving tool fixture is in contact with said workpiece contour using said force sensor;
• computer usable program code configured to use said controller to change, when said moving tool fixture is not in contact with said workpiece contour, the direction of said moving tool fixture so as to bring said tool fixture in contact with said workpiece contour;
• computer usable program code configured to gather spatial relationships between said tool fixture and said workpiece contour at points on the workpiece contour, intermediate the gross spatial relationships, where said tool fixture contacts said workpiece contour;
• and
• computer usable program code configured to use said recorded spatial relationships to define a second path for movement of said tool fixture relative to said workpiece.

A system for programming a robot, said robot having a force sensor and a real or tangible tool fixture and a controller for cooperating with a workpiece having a known contour, said system comprising:

• a computing device having therein program code usable by said computing device, said program code configured to:
• gather a plurality of gross spatial relationships between said tool fixture and said workpiece contour;
• define from said plurality of gross spatial relationships between said tool fixture and said workpiece contour a first path for movement of said tool fixture relative to said workpiece contour, said first path including said gross spatial relationships;
• move said tool fixture using said first path as a guide;
• determine whether said moving tool fixture is in contact with said workpiece contour using said force sensor;
• change using said controller, when said moving tool fixture is not in contact with said workpiece contour, the direction of said moving tool fixture so as to bring said tool fixture in contact with said workpiece contour;
• gather spatial relationships between said tool fixture and said workpiece contour at points on the workpiece contour, intermediate the gross spatial relationships, where said tool fixture contacts said workpiece contour;
• and
• use said recorded spatial relationships to define a second path for movement of said tool fixture relative to said workpiece.