US 2022/0072711 A1 · COORDINATION OF PATHS OF TWO ROBOT MANIPULATORS

Abstract

System and method of learning and executing mutually coordinated paths of robot manipulators, including: manually guiding a first reference point of a first robot manipulator over a desired first path, acquiring the first path or acquiring a first set of poses for the first path and storing the first path or the first set of poses in a first data set, automatically traveling along the first path according to the first data set, while automatically traveling along the first path, manually guiding a second reference point of a second robot manipulator over a desired second path, acquiring the second path or acquiring a second set of poses for the second path and storing the second path or the second set of poses in a second data set, wherein the second data set is assigned to the first data set so that a location of the first path is at least approximately assigned to each location of the second path, and traveling along the first path by the first robot manipulator according to the first data set synchronized with traveling along the second path by the second robot manipulator according to the second data set.

Claims19

Dependent claims

A method of learning and executing mutually coordinated paths of robot manipulators, the method comprising:

manually guiding a first reference point of a first robot manipulator over a desired first path;
acquiring the desired first path or acquiring a first set of poses for the desired first path and storing the desired first path or the first set of poses in a first data set;
automatically traveling along the desired first path according to the first data set;
manually guiding a second reference point of a second robot manipulator over a desired second path, while automatically traveling along the desired first path;
acquiring the desired second path or acquiring a second set of poses for the desired second path and storing the desired second path or the second set of poses in a second data set, wherein the second data set is assigned to the first data set so that a location of the desired first path is at least approximately assigned to each location of the desired second path;
and
traveling along the desired first path by the first robot manipulator according to the first data set synchronized with traveling along the desired second path by the second robot manipulator according to the second data set.

4 more elements

A system to teach and execute mutually coordinated paths of robot manipulators, the system comprising:

a first robot manipulator comprising:
a first path acquisition unit is designed to acquire a desired first path of a first reference point of the first robot manipulator or a first set of poses for the desired first path during manual guidance of the first robot manipulator, and to store the first reference point or the first set of poses in a first data set;
and a first control unit is designed to control the first robot manipulator to travel along the desired first path according to the first data set;
and
a second robot manipulator comprising:
a second path acquisition unit designed to acquire a desired second path of a second reference point of the second robot manipulator or a second set of poses for the desired second path during manual guidance of the second robot manipulator during travel along the desired first path by the first robot manipulator, and to store the second reference point or the second set of poses in a second data set, wherein the second data set is assigned to the first data set in such a way that a location of the first path is at least approximately assigned to each location of the second path;
and a second control unit designed to control the second robot manipulator to travel along the desired second path according to the second data set, wherein travel along the desired first path by the first robot manipulator according to the first data set is synchronized with travel along the desired second path by the second robot manipulator according to the second data set.

4 more elements

A system to teach and execute mutually coordinated paths of robot manipulators, the system comprising:

a first robot manipulator comprising a first path acquisition unit designed to acquire a desired first path of a first reference point of the first robot manipulator or a first set of poses for the desired first path during manual guidance of the first robot manipulator, and to store the first reference point or the first set of poses in a first data set;
a second robot manipulator comprising a second path acquisition unit designed to acquire a desired second path of a second reference point of the second robot manipulator or a second set of poses for the desired second path during manual guidance of the second robot manipulator during travel along the desired first path by the first robot manipulator, and to store the second reference point or the second set of poses in a second data set, wherein the second data set is assigned to the first data set in such a way that a location of the first path is at least approximately assigned to each location of the second path;
and
a control unit designed to control the first robot manipulator to travel along the desired first path according to the first data set and to control the second robot manipulator to travel along the desired second path according to the second data set, wherein travel along the desired first path by the first robot manipulator according to the first data set is synchronized with travel along the desired second path by the second robot manipulator according to the second data set.

1 more element

Dependencies are inferred from the claim text.

Coordination of paths of two robot manipulators

Life of this patent

Coordination of paths of two robot manipulators

Life of this patent

Abstract

Claims19