Robotics connector
OwnerGeoffrey E Olsoninventor
Life of this patent
Estimating the term…
Abstract
A modular industrial robotics (MIR) connector object module has a graphical image property for a 3D solid model program. It also includes a component identifier property configured to identify a component in the 3D solid model program and an abstract data type property having a coordinate transform matrix describing a 3D position and orientation of the MIR connector object module relative to a coordinate system of the component in the 3D solid model program. The MIR connector object module is configured to be attachable to one of multiple components in the 3D solid model program.
Claims20
A non-transitory data storage medium comprising data and programs readable by a processor to control a modular industrial robot system having robotic system modules, comprising:
- a software program to assemble link chains of selected multiple components with respective attached modular industrial robotics (MIR) connector object models to form tree graphs representing a structural model of the modular industrial robot, the respective attached MIR connector object models each including:
- a graphical image property for a 3D solid model program;
- and
- an abstract data type property having,
- a component identifier property configured to identify a component in the 3D solid model program, and
- a coordinate transform matrix describing a 3D position and orientation of the respective attached MIR connector object model relative to a coordinate system of the component in the 3D solid model program;
- a loop solver program to allow a user to create a loop of multiple attached MIR connector object models on different link chains and to select one of multiple types of loop solvers to solve for a parameter in the configurable abstract data type property;
- and
- a robot controller program to control the robotic system modules and wherein the configurable abstract data types are to be extracted from the 3D solid model program and downloadable to the robot controller program for use in robot control calculations.
A system for modeling and controlling a modular industrial robot having multiple robotic system modules, comprising:
- a computer system having a 3D solid modeling program installed in a data storage medium;
- one or more modular industrial robotics (MIR) connector object models stored on the data storage medium, each including
- a graphical image property for the 3D solid model program, and
- a configurable abstract data type property having
- a component identifier property configured to identify a component in the 3D solid model program, and
- a coordinate transform matrix describing a 3D position and orientation of the MIR connector relative to the component in the 3D solid model program, the MIR connector object configured to be attachable to one of multiple components in the 3D solid model program;
- a computer terminal configured to display the multiple components of the 3D solid model program with the respective graphical image property representing the position and orientation of the multiple components;
- a software program installed on the data storage medium configured to allow a user to represent the modular industrial robot graphically in the 3D solid model program along with respective graphical MIR connectors, the software program further to assemble link chains of selected multiple components with respective attached MIR connectors to form tree graphs representing a structural model of the modular industrial robot;
- and
- a loop solver program installed on the data storage medium to allow a user to create a loop of multiple MIR connectors on different link chains and to select one of multiple types of loop solvers to solve for a parameter in the configurable abstract data type property.
A non-transitory data storage medium comprising data and programs readable by a processor to model and control a modular industrial robot (MIR), including:
- a software program to allow a user to represent the MIR graphically in the 3D solid model program in a user interface along with respective graphical MIR connector object models, and to assemble link chains of selected multiple components with respective attached MIR connector object models to form tree graphs representing a structural model of the MIR, the MIR connector object models each including:
- a graphical image property for a 3D solid model program, and
- a configurable abstract data type property having:
- a component identifier property to identify a component in the 3D solid model program, and
- a coordinate transform matrix describing a 3D position and orientation of the MIR connector object model relative to the component in the 3D solid model program, the MIR connector object model to be attachable to one of multiple components in the 3D solid model program;
- and
- a loop solver program to allow a user to create a loop of multiple MIR connector object models on different link chains and to select one of multiple types of loop solvers to solve for a parameter in the configurable abstract data type property.
Dependencies are inferred from the claim text.