Generating a robot program and operating a robot
AssigneeKUKA Deutschland GmbH
InventorsAndreas Hagenauer, Andreas Glueck
Life of this patent
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Abstract
A method for generating a robot program for a robot includes generating a robot program for traversing a robot path, the program having a plurality of movement sets for specifying the path, at least one of which has a specified target pose of a reference of the robot. At least one of the movement sets is a grinding set for which a grinding pose as a virtual starting pose for a successive movement set, an approach to a path section specified by the successive movement set, and an approach from a path section specified by a preceding movement set can be parameterized. A robot path may be traversed by a robot by executing the generated robot program.
Claims19
1-15. (canceled)
A method for generating a robot program for a robot to traverse a robot path, wherein the robot program includes multiple movement sets for specifying the path, wherein at least one of the movements sets has a specified target pose of a reference of the robot, and wherein at least one of the movement sets is a blending set, the method comprising parameterizing, for at least one blending set:
- a blending pose as a virtual starting pose for a successive movement set;
- an approach to a path section specified by the successive movement set;
- and
- an approach from a path section specified by a preceding movement set.
A system for generating a robot program for a robot to traverse a robot path, wherein the robot program includes multiple movement sets for specifying the path, wherein at least one of the movements sets has a specified target pose of a reference of the robot, and wherein at least one of the movement sets is a blending set, the system comprising means for parameterizing, for the at least one blending set:
- a blending pose as a virtual starting pose for a successive movement set;
- an approach to a path section specified by said successive movement set;
- and
- an approach from a path section specified by a preceding movement set.
Dependencies are inferred from the claim text.