Method Of Programming Manipulator, Control System and Industrial Robot
AssigneeABB Schweiz AG
InventorsPer Willför, Roger Kulläng, Anders Ekelund
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Abstract
A method of programming a manipulator, the method including providing a movement path for execution by the manipulator, the movement path having a plurality of points including a start point and an end point and at least one movement segment between the plurality of points; moving the manipulator to a path modifying position; and modifying the movement path from the start point to the end point based on the path modifying position upon receiving a modification input from a user. A control system for programming a manipulator, and an industrial robot including the manipulator and a control system, are also provided.
Claims15
A method of programming a manipulator, the method comprising:
- providing a movement path for execution by the manipulator, the movement path comprising a plurality of points including a start point and an end point and at least one movement segment between the plurality of points;
- moving the manipulator to a path modifying position;
- and
- modifying the movement path from the start point to the end point based on the path modifying position upon receiving a modification input from a user.
A control system for programming a manipulator, the control system comprising at least one data processing device and at least one memory having at least one computer program stored thereon, the at least one computer program having program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of:
- providing a movement path for execution by the manipulator, the movement path having a plurality of points including a start point and an end point and at least one movement segment between the plurality of points;
- continuously or repeatedly determining a path modifying position based on a current position of the manipulator;
- and
- modifying the movement path from the start point to the end point based on the path modifying position upon receiving a modification input from a user.
An industrial robot comprising the manipulator and a control system for programming a manipulator, the control system including at least one data processing device and at least one memory having at least one computer program stored thereon, the at least one computer program having program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of:
- providing a movement path for execution by the manipulator, the movement path having a plurality of points including a start point and an end point and at least one movement segment between the plurality of points;
- continuously or repeatedly determining a path modifying position based on a current position of the manipulator;
- and
- modifying the movement path from the start point to the end point based on the path modifying position upon receiving a modification input from a user.
Dependencies are inferred from the claim text.