Method and programming means for modification of a robot path
AssigneeKUKA Roboter GmbH
InventorsAndreas Hagenauer, Catherine Dangel, Elisabeth Hanke
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Abstract
A method in accordance with the invention for modification of a robot path which has a plurality of path points comprises the following steps of specifying a modification region which has at least two path points of the robot path, specifying a modification of a reference point of the modification region, and automated modification of the modification region, in particular of path points of the modification region, on the basis of the specified modification.
Claims12
A method for the modification of a robot path having a plurality of path points, the method comprising:
- specifying a modification region which has at least two path points;
- specifying a modification of a reference point of the modification region;
- and
- automatically modifying the modification region on the basis of the specified modification;
- wherein at least one of:
- a) specifying a modification of a reference point of the modification region comprises at least one of:
- selecting a modification operation for at least one of the reference point or for the modification region, or
- at least one of selecting or parameterizing a modification operation for the modification region,
- wherein selecting or parameterizing a modification operation comprises selecting or parameterizing at least one of a set of selectable or parameterizable modification operations, and
- wherein at least one of the set of modification operations comprises changing at least one path point of the modification region on the basis of a change of the reference point;
- or
- b) at least one path point of the modification region is a duplicate of another path point, and the at least one duplicate is automatically modified on the basis of the specified modification.
A computer for modifying a robot path having a plurality of path points, the computer comprising a non-transitory storage medium including program code that, when executed by the computer, causes the computer to:
- specify a modification region which has at least two path points;
- specify a modification of a reference point of the modification region;
- and
- automatically modify the modification region on the basis of the specified modification;
- wherein at least one of:
- a) specifying a modification of a reference point of the modification region comprises at least one of:
- selecting a modification operation for at least one of the reference point or for the modification region, or
- at least one of selecting or parameterizing a modification operation for the modification region,
- wherein selecting or parameterizing a modification operation comprises selecting or parameterizing at least one of a set of selectable or parameterizable modification operations, and
- wherein at least one of the set of modification operations comprises changing at least one path point of the modification region on the basis of a change of the reference point;
- or
- b) at least one path point of the modification region is a duplicate of another path point, and the at least one duplicate is automatically modified on the basis of the specified modification.
A computer program product for modifying a robot path having a plurality of path points, the computer program product having programming code stored on a non-transitory machine readable data medium, the programming code configured to, when executed by a computer, cause the computer to:
- specify a modification region which has at least two path points;
- specify a modification of a reference point of the modification region;
- and
- automatically modify the modification region on the basis of the specified modification;
- wherein at least one of:
- a) specifying a modification of a reference point of the modification region comprises at least one of:
- selecting a modification operation for at least one of the reference point or for the modification region, or
- at least one of selecting or parameterizing a modification operation for the modification region,
- wherein selecting or parameterizing a modification operation comprises selecting or parameterizing at least one of a set of selectable or parameterizable modification operations, and
- wherein at least one of the set of modification operations comprises changing at least one path point of the modification region on the basis of a change of the reference point;
- or
- b) at least one path point of the modification region is a duplicate of another path point, and the at least one duplicate is automatically modified on the basis of the specified modification.
Dependencies are inferred from the claim text.