Method of robot teaching with motion constraints

Abstract

A method for teaching movements to a robot (12) is disclosed. The robot (12) includes a fixture (14) for cooperating with a workpiece (16), at least one sensor (18) for sensing a spatial relationship of the robot fixture (14) relative to the workpiece (16), at least one motor (20), and a microprocessor (22) for controlling motion of the robot (12) relative to the workpiece (16). The method comprises the steps of storing a predetermined spatial relationship between the robot fixture (14) and the workpiece (16) in the microprocessor (22), imparting movement onto the robot (12), either by an operator physically moving the robot (12) or by actuating a joystick or a teach pendant to step the robot (12) through a desired set of motions, recording the imparted movement on the robot (12) in the microprocessor (22), using the recorded imparted movement to establish initial movement commands, continuously sensing a spatial relationship of the robot fixture (14) relative to the workpiece (16), and comparing the sensed relationship of the robot fixture relative (14) to the workpiece (16) to the predetermined spatial relationship to determine a deviation from the predetermined spatial relationship. The imparted movement of the robot (12) is continuously modified based upon the determined deviation to maintain the spatial relationship of the robot fixture (14) relative to the workpiece (16) during teaching of the robot (12).

Dependencies are inferred from the claim text.