Method and apparatus for robot path teaching

Patent metadata

Field	Value
Publication number	US-9919421-B2
Application number	US-201615099895-A
Country	US
Kind code	B2
Filing date	Apr 15, 2016
Priority date	Apr 15, 2015
Publication date	Mar 20, 2018
Grant date	Mar 20, 2018

Abstract

A dummy tool is used to teach a robot the path the robot will follow to perform work on a workpiece to eliminate the possibility of damaging an actual tool during the training. The dummy tool provides the robot programmer an indication of potential collisions between the tool and the workpiece and other objects in the work cell when path is being taught. The dummy tool can have a detachable input/output device with a graphic user interface (GUI) that can communicate wirelessly with the robot controller. The dummy tool can also have a moveable camera attached thereto to track the relationship of the tool to objects in the work area.

First claim

What is claimed is:

1. A system comprising:
a robot configured to perform an operation on a workpiece;
a 3D vision system operable for tracking objects;
a dummy tool configured to represent at least a portion of an actual tool used during operation of the robot;
a database for storing robot commands defined by hand gestures;
a 3D model of a robot scene; and
a computational device configured to define an operation path and operation commands for the robot to follow based on input from the training procedure including data captured by the 3D vision system of one or more positions and orientations of the dummy tool, hand gestures and the 3D model of a robot scene.

2. The system of claim 1 , wherein the hand gestures are operable to provide instructions to the robot.

3. The system of claim 1 , wherein the operation on the workpiece includes at least one of grinding, milling, drilling, welding or maneuvering.

4. The system of claim 1 further comprising a camera connected to the dummy tool.

5. The system of claim 4 , wherein the camera is operable for transmitting discrete pictures and/or a continuous video stream during the training procedure to the computational device.

6. The system of claim 4 further comprising a coupling constructed to permit movement of the camera with respect to the dummy tool during operation of the robot.

7. The system of claim 1 further comprising a I/O device connectable to the dummy tool.

8. The system of claim 7 , wherein the I/O device is operable for transmitting commands or receiving data to/from the computational device.

9. The system of claim 8 , wherein the commands to the I/O device include at least one recording a position, modifying a position and changing a configuration state of the dummy tool.

10. The system of claim 1 further comprising a haptic feedback mechanism operable for generating haptic feedback when the robot encounters an obstacle or receives an invalid command during the training procedure.

11. A robot system comprising:
a programmable robot;
a sensor for sensing input commands from a hand gesture;
a 3D camera operable to provide a 3D robot scene;
a dummy tool configured to replicate at least a portion of an actual tool;
wherein a pathway and operational movement of the robot is defined by instructions from a computational device based on results from a training procedure that uses the robot and the dummy tool.

12. The robot system of claim 11 further comprising means for providing haptic feedback to an operator upon an occurrence of predefined criteria.

13. The robot system of claim 12 , wherein the predefined criteria includes one of an error state or invalid command.

14. The robot system of claim 12 , wherein the haptic feedback includes one of a vibratory output and an audible sound.

15. The robot system of claim 11 further comprising a camera positioned on the dummy tool.

16. The robot system of claim 15 , wherein the camera is a 2D camera.

17. The robot system of claim 15 , wherein the camera is connected to the dummy tool via a movable coupling.

18. The robot system of claim 17 , wherein the camera is movable with respect to the dummy tool while the robot is moving and/or performing operations on the workpiece.

19. The robot system of claim 11 further comprising a detachable I/O device connected to the dummy tool.

20. The robot system of claim 11 , wherein an operator holds and moves the dummy tool by hand during at least a portion of the training procedure.

21. The robot system of claim 11 , wherein the robot holds and moves the dummy tool during at least a portion of the training procedure.

22. A method comprising:
providing a dummy tool for operation with a robot;
training the robot to move along a workpath and/or work on a workpiece using the dummy tool to determine a potential interference with an object along the workpath wherein the training includes utilizing a 3D vision system to provide the robot with a vision scene which it uses to detect the dummy tool; and
inputting commands to a computational device to define the workpath and/or operational maneuvering of the robot with an actual tool based on the training.

23. The method of claim 22 , wherein the training further comprises using hand gestures for command input.

24. The method of claim 22 , wherein the training further comprises transmitting haptic feedback when the robot encounters and error state or an invalid command.

25. The method of claim 22 , wherein the training further comprises attaching a camera to the dummy tool and transmitting video images to the computational device.

26. The method of claim 25 , wherein the attaching includes a movable coupling operable for attaching the camera to the dummy tool such that the camera is movable relative to the dummy tool when the robot is working on a workpiece.

27. The method of claim 22 further comprising teaching the robot to engage a workpiece in a preferred location with the dummy tool.

28. The method of claim 22 , wherein the training further comprises holding, moving, manipulating and changing a configuration state of the dummy tool with a hand of an operator.

29. The method of claim 22 , wherein the training further comprises holding, moving, manipulating and changing a configuration state of the dummy tool with the robot.

Assignees

• Abb Schweiz Ag

Inventors

• Rossano Gregory F
• Boca Remus
• Nidamarthi Srinivas
• Fuhlbrigge Thomas A

Classifications

• G05B2219/45094

  Milling robot · CPC title

• G05B2219/45059

  Drilling robot · CPC title

• B25J9/163 Primary

  learning, adaptive, model based, rule based expert control · CPC title

• B25J13/025 Primary

  comprising haptic means · CPC title

• B25J9/0081

  with leader teach-in means · CPC title