Intuitive motion coordinate system for controlling an industrial robot

A method for controlling a multi-axis robot using an operator interface adapted to interact with an operator, the operator interface comprising a teach pendant having an input element, a display element, and a sensor element adapted to sense a current 3D position of the pendant, the method comprising the steps of:

• [1] generating a simulacra of the robot for display on the display element;
• [2] determining a current 3D position of the robot relative to a robot-centric first frame of reference;
• [3] using the sensor element to sense the current 3D position of the pendant relative to the first frame of reference;
• [4] developing an operator-centric second frame of reference corresponding to the current 3D position of the pendant with respect to the first frame of reference;
• [5] orienting the simulacra in the second frame of reference to correspond with an operator view of the robot from the current 3D position of the pendant;
• [6] displaying the oriented simulacra on the display element;
• [7] displaying on the display element a motion-control construct suggestive of a movement of the simulacra;
• [8] receiving from the operator via the motion-control construct displayed on the display element a jog command indicative of a respective incremental movement of the simulacra in the second frame of reference;
• [9] transforming the jog command from the second frame of reference to the first frame of reference;
• [10] moving the robot in the first frame of reference in accordance with the transformed jog command;
• [11] sensing a change in the current 3D position of the pendant relative to the first frame of reference;
• [12] translating the second frame of reference to correspond to the current 3D position of the pendant with respect to the first frame of reference;
• and
• [13] returning to step [5].

A computer-implemented method for controlling a multi-axis robot using an operator interface adapted to interact with an operator, the operator interface comprising a teach pendant having an input element, a display element, and a sensor element adapted to sense a current 3D position of the pendant, the method comprising the steps of:

• [1] determining a current 3D position of the robot relative to a robot-centric first frame of reference;
• [2] using the sensor element to sense the current 3D position of the pendant relative to the first frame of reference;
• [3] developing an operator-centric second frame of reference corresponding to the current 3D position of the pendant with respect to the first frame of reference;
• [4] displaying on the display element a motion-control construct suggestive of a movement of the robot;
• [5] receiving from the operator via the motion-control construct a jog command indicative of a respective incremental movement of the robot in the second frame of reference;
• [6] transforming the jog command from the second frame of reference to the first frame of reference;
• and
• [7] moving the robot in the first frame of reference in accordance with the transformed jog command.

A method for using a computer to develop a simulacra of a multi-axis robot for display on a display screen integrated into a teach pendant adapted for use by an operator to control the robot, the method comprising the steps of:

• [1] generating a simulacra of the robot for display on the display screen;
• [2] determining a current 3D position of the robot relative to a robot-centric first frame of reference;
• [3] sensing a current 3D position of the pendant relative to the first frame of reference;
• [4] developing an operator-centric second frame of reference corresponding to the current 3D position of the pendant with respect to the first frame of reference;
• [5] orienting the simulacra in the second frame of reference to correspond with an operator view of the robot from the current 3D position of the pendant;
• and
• [6] displaying the oriented simulacra on the display screen.