Software interface for authoring robotic manufacturing process

Patent metadata

Field	Value
Publication number	US-10486308-B2
Application number	US-201715616096-A
Country	US
Kind code	B2
Filing date	Jun 7, 2017
Priority date	Apr 1, 2014
Publication date	Nov 26, 2019
Grant date	Nov 26, 2019

Abstract

Example systems and methods allow for use of a graphical interface to cause one or more robotic devices to construct an output product. One example method includes causing a graphical interface to be displayed on a display device, receiving input data corresponding to one or more interactions with the graphical interface indicating at least one motion path and at least one sequence of tool actions to execute at one or more points within the at least one motion path for use in construction of an output product, generating a plurality of digital nodes including at least one robot node, at least one motion command node, and at least one tool command node, and providing instructions for the at least one robot actor to move according to the sequence of robot motion commands determined by the at least one motion command node and execute the sequence of tool commands determined by the at least one tool command node to construct the output product.

First claim

What is claimed is:

1. A computer-implemented method, comprising:
causing, by one or more processors, a visual programming graphical interface to be displayed on a display device;
receiving, by the one or more processors, node configuration data based on one or more user interactions with the visual programming graphical interface;
generating, by the one or more processors and based on the node configuration data, a plurality of connectable digital node icons for display on the visual programming graphical interface, the plurality of connectable digital node icons comprising:
(a) a robot node icon describing one or more attributes of a robot actor; and
(b) a motion command node icon describing a motion path that was drawn by a user on the visual programming graphical interface;

determining, by the one or more processors, that the user has connected the robot node icon to the motion command node icon within the visual programming graphical interface;
generating, by the one or more processors, a sequence of robot motion commands to allow the robot actor having the one or more attributes described by the robot node icon to move along the motion path described by the motion command node icon that the user has connected to the robot node icon; and
providing, by the one or more processors, the sequence of robot motion commands to the robot actor.

2. The method of claim 1 , wherein the one or more attributes specify limitations on angles of motion of the robot actor, and the sequence of robot motion commands comprise a sequence of joint angles for the robot actor to cause an end effector of the robot actor to follow the motion path.

3. The method of claim 1 , wherein the one or more attributes comprise a plurality of link lengths of the robot actor, wherein the plurality of link lengths are indicated by the node configuration data, and wherein the method further comprises determining the sequence of robot motion commands for allowing robot actors that are constrained by the link lengths to move along the motion path.

4. The method of claim 1 , wherein the one or more attributes comprise constraints associated with a make and model of the robot actor, wherein constraints associated with the make and model are indicated by the node configuration data, and wherein the method further comprises determining the sequence of robot motion commands for allowing robot actors having the constraints to move along the motion path.

5. The method of claim 1 , wherein the one or more attributes comprise one or more limitations on a range of motion of one or more joints of the robot actor, wherein the one or more limitations on the range of motion are indicated by the node configuration data, and wherein the method further comprises determining the sequence of robot motion commands for allowing robot actors having the one or more limitations to move along the motion path.

6. The method of claim 1 , further comprising:
receiving, via the graphical interface, one or more parameters describing characteristics of an output product to be constructed by the robot actor; and
causing a graphical representation of the output product to be displayed within the graphical interface.

7. The method of claim 6 , further comprising:
determining at least one mathematical model describing the output product based on the one or more parameters; and
determining the motion path based at least in part on the at least one mathematical model.

8. The method of claim 6 , further comprising:
determining at least one mathematical model describing the output product based on the one or more parameters; and
determining an endpoint of the motion path based on the at least one mathematical model, wherein the endpoint comprises a target plane on the output product.

9. The method of claim 1 , wherein the motion path comprises a sequence of frames, wherein a frame comprises a position and orientation of an end effector of the robot actor.

10. The method of claim 1 , further comprising:
displaying an interpolation slider with the graphical interface;
receiving input data via the interpolation slider specifying an interval at which to interpolate robot motion commands for the motion path; and
determining the sequence of robot motion commands using the specified interval.

11. The method of claim 1 , further comprising generating, based on the node configuration data, at least one tool node icon, wherein the at least one tool node icon describes one or more characteristics of at least one tool operable by the robot actor.

12. The method of claim 1 , further comprising generating, based on the node configuration data, at least one axis node icon, wherein the at least one axis node icon describes at least one track of motion indicating a track of motion through which the robot actor is configured to travel.

13. The method of claim 1 , further comprising causing a visual simulation of construction of an output product by the robot actor to be displayed within the graphical interface.

14. A system comprising:
a display device; and
a one or more processors configured to:
cause a visual programming graphical interface to be displayed on a display device;
receive node configuration data based on one or more user interactions with the visual programming graphical interface;
generate, based on the node configuration data, a plurality of connectable digital node icons for display on the visual programming graphical interface, the plurality of connectable digital node icons comprising:
(a) a robot node icon describing one or more attributes of a robot actor; and
(b) a motion command node icon describing a motion path that was drawn by a user on the visual programming graphical interface;

determine that the user has connected the robot node icon to the motion command node icon within the visual programming graphical interface;
generate a sequence of robot motion commands to allow the robot actor having the one or more attributes described by the robot node icon to move along the motion path described by the motion command node icon that the user has connected to the robot node icon; and
provide the sequence of robot motion commands to the robot actor.

15. The system of claim 14 , wherein the one or more attributes specify limitations on angles of motion of the robot actor, and the sequence of robot motion commands comprise a sequence of joint angles for the robot actor to cause an end effector of the robot actor to follow the motion path.

16. The system of claim 14 , wherein the one or more attributes comprise a plurality of link lengths of the robot actor, wherein the plurality of link lengths are indicated by the node configuration data, and wherein the method further comprises determining the sequence of robot motion commands for allowing robot actors that are constrained by the link lengths to move along the motion path.

17. The system of claim 14 , wherein the one or more attributes comprise constraints associated with a make and model of the robot actor, wherein constraints associated with the make and model are indicated by the node configuration data, and wherein the method further comprises determining the sequence of robot motion commands for allowing robot actors having the constraints to move along the motion path.

18. A non-transitory computer readable medium having stored therein instructions, that when executed by a computing system, cause the computing system to perform functions comprising:
causing a visual programming graphical interface to be displayed on a display device;
rece

Assignees

• X Dev Llc

Inventors

• Linnell Jeffrey
• Byrne Kendra
• Bitterman Matthew

Classifications

• G05B2219/35216

  Program, generate nc program, code from cad data · CPC title

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title

• Y10S901/41

  Tool · CPC title