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US 9,804,593 B1Granted
Methods and systems for teaching positions to components of devices
AssigneeX Development LLC
InventorsBenjamin Davis, Anthony Sean Jules
Life of this patent
Estimating the term…
Abstract
Methods and systems for teaching positions to components of devices are described. An example method includes providing instructions to a robotic device or robotic manipulator to place the robotic manipulator into a fine-tuning teach mode, in which the robotic manipulator is in a given position and is configured to move based on application of a manual contact in one or more step movements having a preset amount of distance. The method also includes determining that a given manual contact is applied to the robotic manipulator, and causing the robotic manipulator to incrementally move in the one or more step movements having the preset amount of distance.
Claims20
A method comprising:
- providing, by one or more processors, instructions to a robotic device to place the robotic device into a fine-tuning teach mode, wherein in the fine-tuning teach mode, a component of the robotic device is in a given position and is configured to move based on application of a manual contact in one or more step movements having a preset amount of distance;
- receiving, by the one or more processors one or more signals output from a force sensor coupled to the component of the robotic device, the one or more signals indicating that a given manual contact is applied to the component of the robotic device;
- determining that the given manual contact is applied to the component of the robotic device based on the one or more signals output from the force sensor;
- and
- associating the manual contact to the one or more step movements of the component of the robotic device;
- while in the fine-tuning teach mode, causing, by the one or more processors, the component of the robotic device to incrementally move in the one or more step movements having the preset amount of distance in response to the one or more signals output from the force sensor that are used to determine the one or more step movements to apply to the component of the robotic device.
3 more elements
A method comprising:
- receiving, at a computing device, instructions to place a component of the computing device into a fine-tuning teach mode, wherein in the fine-tuning teach mode, the component is in a given position and is configured to move based on application of a manual contact in one or more step movements having a preset amount of distance;
- the component of the computing device receiving an applied manual contact;
- receiving, one or more signals output from a force sensor coupled to the component of the computing device, the one or more signals indicating that the applied manual contact is applied to the component of the computing device;
- determining that the manual contact has been applied to the component of the computing device based on the one or more signals output from the force sensor;
- and
- associating the manual contact to the one or more step movements of the component of the computing device;
- while in the fine-tuning teach mode, the component of the computing device being instructed by the computing device to responsively move in the one or more step movements having the preset amount of distance in response to the one or more signals output from the force sensor that are used to determine the one or more step movements to apply to the component of the robotic device.
4 more elements
A system comprising:
- one or more components coupled to a computing device;
- a force sensor coupled to the one or more components;
- one or more processors;
- data storage including instructions executable by the one or more processors to cause the one or more components or the computing device to perform functions comprising:
- receiving instructions to place the one or more components coupled to the computing device into a fine-tuning teach mode, wherein in the fine-tuning teach mode, the one or more components are in a given position and are configured to move based on application of a manual contact in one or more step movements having a preset amount of distance;
- receiving one or more signals output from the force sensor coupled to the one or more components, the one or more signals indicating that a given manual contact is applied to the one or more components;
- determining that the given manual contact is applied to the one or more components based on the one or more signals output from the force sensor;
- and
- associating the given manual contact to the one or more step movements of the one or more components;
- while in the fine-tuning teach mode, causing the one or more components to move in the one or more step movements having the preset amount of distance in response to the one or more signals output from the force sensor that are used to determine the one or more step movements to apply to the one or more components.
7 more elements
Dependencies are inferred from the claim text.