Method of and apparatus for automated path learning

A computer program product comprising:

• a non-transitory computer readable medium for creating prior to a robot performing work on a known contour of a workpiece a program which when executed causes said robot to follow a path that allows said robot to use a real tool to perform work on said known contour;
• a computing device for executing said computer program product;
• computer usable program code configured to operate, prior to said robot performing work on said workpiece contour, said robot to use a tool that is either said real tool or a tangible tool that cannot perform work on said workpiece to obtain a plurality of guiding points related to said workpiece contour, one or more of said plurality of guiding points not on said workpiece contour, said path to be followed when said robot uses said real tool to perform work on said workpiece not including said one or more of said plurality of guiding points not on said workpiece contour;
• computer usable program code configured to define, prior to said robot performing work on said workpiece contour, from said plurality of guiding points a path including said plurality of guiding points for movement of said robot holding said tool that is either said real tool or said tangible tool relative to said workpiece contour;
• computer usable program code configured to move, prior to said robot performing work on said workpiece contour, said robot holding said tool that is either said real tool or said tangible tool using said path including said plurality of guiding points as a guide;
• computer usable program code configured to use, prior to said robot performing work on said workpiece contour, a signal from a force sensor on said robot to determine, when said robot is holding said tool that is either said real tool or said tangible tool and moves prior to said robot performing work on said workpiece contour to follow said path including said plurality of guiding points, if said robot is in contact with said workpiece contour;
• computer usable program code configured to use the computing device in response to the force sensor signal to change, when said robot moves prior to said robot performing work on said workpiece contour and is holding said tool that is either said real tool or said tangible tool and is following said path including said plurality of guiding points and is not in contact with said workpiece contour, the direction of said moving tool so as to bring said tool that is either said real tool or said tangible tool in contact with said workpiece contour;
• computer usable program code configured to gather one or more points intermediate said guiding points when said robot holding said tool that is either said real tool or said tangible tool moves said tool prior to said robot performing work on said workpiece contour to have said tool contact said workpiece contour without said tool performing work on workpiece contour;
• and
• computer usable program code configured to use said one or more points intermediate said guiding points and said guiding points in contact with said contour to define said path for said robot holding said real tool relative to said workpiece to follow when said real tool is to perform work on said workpiece.

A system for creating prior to a robot performing work on a known contour of a workpiece a program which when executed causes said robot to follow a path that allows said robot to use a real tool held by said robot to perform work on said workpiece known contour, said system comprising:

• a computing device having therein program code usable by said computing device, said program code configured to:
• operate, prior to said robot performing work on said workpiece contour, said robot to use a tool that is either said real tool or a tangible tool that cannot perform work on said workpiece to obtain a plurality of guiding points related to said workpiece contour, one or more of said plurality of guiding points not on said workpiece contour, said path to be followed when said robot uses said real tool to perform work on said workpiece not including said one or more of said plurality of guiding points not on said workpiece contour;
• define, prior to said robot performing work on said workpiece contour, from said plurality of guiding points a path including said plurality of guiding points for movement of said robot holding said tool that is either said real tool or said tangible tool relative to said workpiece contour;
• move, prior to said robot performing work on said workpiece contour, said robot holding said tool that is either said real tool or said tangible tool using as a guide said path including said plurality of guiding points;
• use, prior to said robot performing work on said workpiece contour, a signal from a force sensor on said robot to determine, when said robot is holding said tool that is either said real tool or said tangible tool and moves prior to said robot performing work on said workpiece contour to follow said path including said plurality of guiding points, if said robot is in contact with said workpiece contour;
• change using said force sensor signal, when said robot holding said tool that is either said real tool or said tangible tool moves prior to said robot performing work on said workpiece contour and is following said path including said plurality of guiding points and is not in contact with said workpiece contour, the direction of said moving tool that is either said real tool or said tangible tool so as to bring said moving tool in contact with said workpiece contour;
• gather one or more points intermediate said guiding points when said robot holding said tool that is either said real tool or said tangible tool moves said tool prior to said robot performing work on said workpiece contour to have said tool contact said workpiece contour without said tool performing work on said workpiece contour;
• and
• use said one or more points intermediate said guiding points and said guiding points in contact with said contour to define said path for said robot holding said real tool relative to said workpiece to follow to perform work on said workpiece contour.