Method of and apparatus for automated path learning
US9207668B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 10, 2006 |
| Grant date | Dec 8, 2015 |
| Priority date | — |
| Expiry date | May 19, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40385
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.