Zero teach for robotic continuous path
US11400594B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 10, 2019 |
| Grant date | Aug 2, 2022 |
| Priority date | — |
| Expiry date | May 2, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T19/006
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method and system for programming a path-following robot to perform an operation along a continuous path while accounting for process equipment characteristics. The method eliminates the use of manual teaching cycles. In one example, a dispensing robot is programmed to apply a consistent bead of material, such as adhesive or sealant, along the continuous path. A computer-generated definition of the path, along with a model of dispensing equipment characteristics, are provided to an optimization routine. The optimization routine iteratively calculates robot tool center point path and velocity, and material flow, until an optimum solution is found. The optimized robot motion and dispensing equipment commands are then provided to an augmented reality (AR) system which allows a user to visualize and adjust the operation while viewing an AR simulation of dispensing system actions and a simulated material bead. Other examples include robotic welding or cutting along a continuous path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.