Haptic teach pendant

Patent metadata

Field	Value
Publication number	US-10081109-B2
Application number	US-201314018914-A
Country	US
Kind code	B2
Filing date	Sep 5, 2013
Priority date	Sep 6, 2012
Publication date	Sep 25, 2018
Grant date	Sep 25, 2018

Abstract

An apparatus for providing haptic feedback to a teach pendant including a teach pendant having a housing and a processor disposed therein. The processor is in signal communication with a robot controller and is configured to monitor and control a robot. At least one haptic device is disposed on the teach pendant. The haptic device is in signal communication with the processor and configured for providing haptic feedback through the teach pendant to a user upon the occurrence of a haptic event.

First claim

What is claimed is:

1. An apparatus for providing haptic feedback to a teach pendant comprising:
a teach pendant having a housing and a processor disposed therein, the processor in signal communication with a robot controller, the robot controller configured to monitor, control, and program a robot;
at least one haptic device disposed on the teach pendant, the at least one haptic device in signal communication with the processor and configured for providing a haptic feedback to a user of the teach pendant upon an occurrence of a haptic event; and
a haptic software program executed by at least one of the processor and the robot controller for controlling the signal communication between the processor and the robot controller and the signal communication between the processor and the at least one haptic device, the haptic software program detecting the occurrence of the haptic event and controlling generation of the haptic feedback by the at least one haptic device, the haptic feedback based on a plurality of custom haptic patterns assigned to a plurality of conditions, the plurality of conditions including a robot tool approaching an interference zone or a robot limit, and a detection of an overly aggressive robot motion;
wherein the haptic event is the robot tool approaching the interference zone or the robot limit, or the detection of the overly aggressive robot motion.

2. The apparatus according to claim 1 , wherein the at least one haptic device is one of an actuator and a vibration motor.

3. The apparatus according to claim 1 , wherein the haptic software program is stored in one of the robot controller and the teach pendant.

4. The apparatus according to claim 1 , wherein the teach pendant provides a haptic system initiation signal to the haptic software program.

5. The apparatus according to claim 1 , wherein the haptic software program includes a haptic event monitor, a haptic event processor, and a haptic effect generator.

6. The apparatus according to claim 5 , wherein the haptic event processor receives a signal from the haptic event monitor at the occurrence of the haptic event and provides a signal to the haptic effect generator to provide a signal to the at least one haptic device.

7. The apparatus according to claim 6 , wherein the at least one haptic device responds to the signal provided by the haptic effect generator by generating the haptic feedback to the teach pendant to be sensed by the user.

8. The apparatus according to claim 1 , wherein the at least one haptic device is disposed within the housing of the teach pendant.

9. The apparatus according to claim 1 , the haptic software program having a haptic event monitor, a haptic event processor, and a haptic effect generator, wherein the haptic event processor receives a signal from the haptic event monitor at the occurrence of the haptic event and provides a signal to the haptic effect generator to provide a signal to the at least one haptic device.

10. The apparatus according to claim 9 , wherein the at least one haptic device is one of an actuator and a vibration motor.

11. The apparatus according to claim 10 , wherein the haptic software program is stored in one of the robot controller and the teach pendant.

12. The apparatus according to claim 9 , wherein the at least one haptic device responds to the signal provided by the haptic effect generator by generating a selected haptic feedback in accordance with a predetermined haptic feedback pattern to the teach pendant to be sensed by the user.

13. The apparatus according to claim 9 , wherein the at least one haptic device is disposed in one of a strap of the teach pendant and the housing of the teach pendant.

14. The apparatus according to claim 1 , wherein:
the plurality of conditions further includes a detection of a tool center point approaching a specified position, a contact between the robot and a part or a fixture, a completion of a single step motion of the robot, an occurrence of any motion of the robot, a detection of the robot operating outside of an acceptable process range, an improper or incorrect teach pendant entry, and an indication that a user-defined alarm has occurred; and
wherein the haptic event is the robot tool approaching the interference zone or the robot limit, the detection of the overly aggressive robot motion, the detection of the orientation of the robot tool within the tolerance of the specified orientation, the detection of the tool center point approaching the specified position, the contact between the robot and the part or the fixture, the completion of the single step motion of the robot, the occurrence of any motion of the robot, the detection of the robot operating outside of the acceptable process range, the improper or incorrect teach pendant entry, or the indication that the user-defined alarm has occurred.

15. The apparatus according to claim 1 , wherein the multiple haptic events further include a detection of a tool center point approaching a specified position, a contact between the robot and a part or a fixture, a completion of a single step motion of the robot, an occurrence of any motion of the robot, a detection of the robot operating outside of an acceptable process range, an improper or incorrect teach pendant entry, and an indication that a user-defined alarm has occurred.

16. An apparatus for providing haptic feedback to a teach pendant comprising:
a teach pendant having a housing and a processor disposed therein, the processor in signal communication with a robot controller, the robot controller configured to monitor and control a robot;
at least one haptic device disposed on the teach pendant, the at least one haptic device in signal communication with the processor and configured for providing a haptic feedback to a user of the teach pendant upon an occurrence of a haptic event wherein the at least one haptic device is disposed in a strap of the teach pendant; and
a haptic software program executed by at least one of the processor and the robot controller for controlling the signal communication between the processor and the robot controller and the signal communication between the processor and the at least one haptic device.

17. A method for providing haptic feedback on a teach pendant comprising the steps of:
detecting multiple haptic events through a haptic software program configured for communication with a robot controller, the robot controller configured to monitor, control, and program a robot, each haptic event including a predetermined movement of the robot or a specific data entry by the user on the teach pendant;
sending a signal to a haptic device disposed on the teach pendant, the signal individually varying for each of the multiple haptic events such that different custom haptic patterns are output for each of the multiple haptic events to differentiate between the multiple haptic events, the multiple haptic events including a robot tool approaching an interference zone or a robot limit, and a detection of an overly aggressive robot motion; and
generating a haptic feedback through the teach pendant by the haptic device, the haptic feedback based on the signal received by the haptic device.

18. The method according to claim 17 , including the step of assigning the haptic patterns to the haptic events through the haptic software program.

19. The method according to claim 17 , wherein the multiple haptic events further include two or more of:
an orientation of a robot tool within a tolerance of a specified orientation;
a contact between the rob

Assignees

• Fanuc America Corp

Inventors

• Kowalski Gary
• Denio Matthew F
• Mcgee H Dean

Classifications

• G05B19/409 Primary

  characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters (G05B19/408, G05B19/4093 take precedence) · CPC title

• B25J13/06 Primary

  Control stands, e.g. consoles, switchboards · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• G05B2219/40132

  Haptic joystick with force feedback based on accelerometer included in joystick · CPC title

• G05B2219/36162

  Pendant control box · CPC title