Method of controlling a robotic tool
AssigneeFanuc Robotics America, Inc.
InventorsKen Krause, Bruce E. Coldren, Edward Roney, Steven Prehn, Michael M. Sharpe, Claude Dinsmoor
Life of this patent
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Abstract
A method of controlling a robot system includes the steps of providing a tool supported by a moveable mechanism of the robot system, providing a workpiece supported by a holder, generating an image of the workpiece, extracting a data from the image, the data relating to a feature of the workpiece, generating a continuous three-dimensional path along the workpiece using data extracted from the image, and moving the tool along the path.
Claims20
A method of controlling a robot system, the method comprising the steps of:
- a. providing a tool supported by a moveable mechanism of the robot system;
- b. providing a workpiece supported by a holder and providing to a processor a feature of the workpiece;
- c. generating an image of the workpiece to the processor;
- d. the processor extracting a data from the image, the data relating to the feature of the workpiece;
- e. the processor generating a continuous three-dimensional path along the workpiece using data extracted from the image;
- and
- f. controlling the robot system to move the tool along the generated path.
A method of controlling a robot system, the method comprising the steps of:
- a. providing a tool supported by a moveable mechanism of the robot system;
- b. providing a workpiece supported by a holder;
- c. calibrating the moveable mechanism to the holder and providing to a processor a feature of the workpiece;
- d. generating an image of the workpiece to the processor;
- e. the processor extracting a data from the image, the data representing the feature of the workpiece;
- f. the processor assigning a node to each of a plurality of points along the feature of the workpiece using data extracted from the image and data from the calibration of the moveable mechanism;
- g. the processor generating a continuous three-dimensional path along the nodes;
- and
- h. controlling the robot system to move the tool along the generated path.
A method of controlling a robot system, the method comprising the steps of:
- a. providing a tool moveable by the robot system;
- b. providing a workpiece;
- c. applying a guide line to the workpiece;
- d. extracting a data relating to a feature of the workpiece with a processor;
- e. locating the workpiece;
- f. the processor generating an ideal path of the tool along the workpiece using the extracted data;
- g. controlling the robot system to move the tool along at least a portion of the ideal path;
- and
- h. controlling the robot system to adjust a position of the tool along the ideal path to follow the guide line.
Dependencies are inferred from the claim text.