US 2025/0001588 A1 · APPARATUS AND METHOD FOR PROGRAMMING ROBOTS BY DEMONSTRATION

Abstract

The present invention relates to an apparatus for programming robots based on a novel passive pointing device including fiducial markers which enables interaction with one or more cameras through a computer implemented method. By taking advantage of a camera integral to the robot. the computer implemented method and the pointing device enable a tracking mechanism that during robot programming makes possible to change the position of the robot in real time in order to maintain substantially constant the relative pose between the on-board camera and the pointing device. In this way, the human operator can advantageously set the poses of the robot tool by means of demonstration i.e., by placing the pointer in the desired position and orientation during execution of the computer implemented method. With respect to known systems, larger working-space and higher precision, adjustable according to needs, are thus achieved. The apparatus may include a passive pointer and a camera mounted on the robot's wrist.

Claims16

Dependent claims

Apparatus for programming (1) a robot (50) characterized by the fact of comprising:

pointing device (10) which can be placed in a point of the working space where said robot (50) operates;
a target (11), integral with said pointing device (10), comprising:
a target body (111) having a protruding element (112);
and
a plurality of markers (113,113′) arranged according to a pattern on the surface of the body (111) and of the protruding element (112);
one or more mobile video cameras (20) integral with said robot (50), and optionally one or more fixed video cameras (60);
at least one processing unit (30) associated with said one or more cameras (20,60) or with said pointing device (10), said processing unit (30) storing an executable software;
activation means (12) which, once activated by an operator, allow said camera (20,60) in association with said software to detect in real time one or more positions and orientations in the working space of said target (11) and hence of the tool (52) mounted on said robot (50).

5 more elements

Apparatus for programming a robot according to one or more of the preceding claims, wherein said computing unit (30) is integrated with said one or more video cameras (20,60).

A robot or a cobot comprising:

a pointing device (10) having a body (102) designed to facilitate hand-gripping by an operator;
a target (11) integral with said pointing device (10) comprising:
a target body (111) having a protruding element (112);
and
a plurality of markers (113,113′) arranged according to a pattern on the surface of the body (111) and of the protruding element (112);
a single mobile camera (20) integral with said robot, preferably mounted on the wrist (51) of said robot;
a processing unit (30) associated with said pointing device (10) or with said single mobile camera (20), said processing unit (30) storing an executable software;
activation means (12) which, once activated by an operator, allow said camera (20) in association with said software to detect in real time a single position and orientation of said target (11) in the working space, or a plurality of positions and orientations thereof, and hence the position and orientation of the tool (52) mounted on said robot (50).

5 more elements

Dependencies are inferred from the claim text.

Apparatus and method for programming robots by demonstration

Life of this patent

Apparatus and method for programming robots by demonstration

Life of this patent

Abstract

Claims16