A Responsive Teach Interface for Programming an Industrial Robot
AssigneeABB Schweiz AG
InventorsAndreas Skaar, Morten Mossige
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Abstract
A method of generating a program for controlling an industrial robot, including: receiving a tentative control point to be executed by a manipulator of the industrial robot, wherein the tentative control point is entered using a handheld or body-worn input device with a motion tracking capability; generating a tentative path segment connecting the tentative control point with a preceding control point; evaluating the tentative path segment's feasibility using a predefined computer model of the manipulator, and providing feedback indicating an outcome of the evaluation.
Claims15
A method of generating a program for controlling an industrial robot, comprising:
- receiving a tentative control point to be executed by a robot manipulator of the industrial robot, wherein the tentative control point is entered using a handheld or body-worn input device with a motion tracking capability;
- generating a tentative path segment connecting the tentative control point with a preceding tentative control point;
- evaluating the tentative path segment's feasibility using a predefined computer model of the robot manipulators wherein the feasibility evaluation includes at least two of:
- a collision evaluation, a singularity evaluation, a reachability evaluation;
- and
- providing feedback indicating an outcome of the evaluation, wherein different feedback is provided for at least two outcomes chosen from:
- collision, singularity, non-reachability.
(canceled)
(canceled)
A teach interface for generating a program for controlling an industrial robot, comprising:
- a processing unit with access to a computer model of a manipulator of the industrial robot;
- an input device suitable for being held or worn by an operator;
- and
- an output device configured to provide feedback to the operator,
- wherein the processing unit includes processing circuitry configured to:
- receive from the input device a tentative control point to be executed by the manipulator of the industrial robot;
- generate a tentative path segment connecting the tentative control point with a preceding control point;
- evaluate the tentative path segment's feasibility using the computer model wherein the feasability evaluation includes at least two of:
- a collision evaluation, a singularity evaluation, a reachability evaluation;
- and
- cause the output device to provide feedback indicating an outcome of the evaluation, wherein different feedback is to be provided for at least two outcomes chosen from:
- collision, singularity, non-reachability.
A computer program comprising instructions to cause a teach interface to generate a program for controlling an industrial robot, the teach interface having:
- a processing unit with access to a computer model of a manipulator of the industrial robot;
- an output device configured to provide feedback to the operator;
- wherein the processing unit further comprises processing circuitry;
- wherein the instructions, upon execution by the processing unit, causes the teach interface to:
- receive a tentative control point to be executed by a robot manipulator of the industrial robot, wherein the tentative control point is entered using a handheld or body-worn input device with a motion track a capability;
- generate a tentative path segment connecting the tentative control point with a preceding control point;
- evaluate the tentative path segment's feasibility using a predefined computer model of the robot manipulator wherein the feasibility evaluation includes at least two of:
- a collision evaluation, a singularity evaluation, a reachability evaluation;
- and
- provide feedback indicating an outcome of the evaluation, wherein different feedback is provided for at least two outcomes chosen from:
- collision, singularity, non-reachability.
Dependencies are inferred from the claim text.