Visual debugging of robotic tasks

US9387589B2 · kind B2 · utility

Assignee

• GM GLOBAL TECHNOLOGY OPERATIONS LLC · US

Inventors

• Leandro G. Barajas · Troy, US
• David W. Payton · Calabasas, US
• Li Yang Ku · Los Angeles, US
• Ryan M. Uhlenbrock · Calabasas, US
• Darren Earl · Los Angeles, US

Key dates

• Filing date: Feb 25, 2014
• Grant date: Jul 12, 2016
• Expiry date: Apr 13, 2034

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40311
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robotic system includes a robot, sensors which measure status information including a position and orientation of the robot and an object within the workspace, and a controller. The controller, which visually debugs an operation of the robot, includes a simulator module, action planning module, and graphical user interface (GUI). The simulator module receives the status information and generates visual markers, in response to marker commands, as graphical depictions of the object and robot. An action planning module selects a next action of the robot. The marker generator module generates and outputs the marker commands to the simulator module in response to the selected next action. The GUI receives and displays the visual markers, selected future action, and input commands. Via the action planning module, the position and/or orientation of the visual markers are modified in real time to change the operation of the robot.