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Related Robotic Motion Adjustments Using a Robotic Teach Pendant

IP.com Disclosure Number: IPCOM000060249D
Original Publication Date: 1986-Mar-01
Included in the Prior Art Database: 2005-Mar-08
Document File: 2 page(s) / 14K

Publishing Venue

IBM

Related People

Colson, JC: AUTHOR [+2]

Abstract

Complex assembly tasks performed by robots are generated based on groups of motions. When an adjustment needs to be made to an assembly task, it typically requires adjusting several motions. Adjusting every related motion directly can be a time-consuming process. An arrangement is described to drastically shorten the time necessary to make assembly task adjustments. A menu-driven program for teaching robots by example allows for quick development and maintenance of complex assembly tasks. The primary feature for quickly making minor modifications to, and for correcting, applications once on line, is referred to as TOUCH UP. TOUCH UP allows the application to be executed in play or single-step mode, while simultaneously allowing the application engineer to visually inspect the subsequent motion.

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Related Robotic Motion Adjustments Using a Robotic Teach Pendant

Complex assembly tasks performed by robots are generated based on groups of motions. When an adjustment needs to be made to an assembly task, it typically requires adjusting several motions. Adjusting every related motion directly can be a time-consuming process. An arrangement is described to drastically shorten the time necessary to make assembly task adjustments. A menu-driven program for teaching robots by example allows for quick development and maintenance of complex assembly tasks. The primary feature for quickly making minor modifications to, and for correcting, applications once on line, is referred to as TOUCH UP. TOUCH UP allows the application to be executed in play or single-step mode, while simultaneously allowing the application engineer to visually inspect the subsequent motion. When a motion is discovered that requires minor adjustments, the engineer simply activates the guide mode, guides the manipulator to the desired endpoint, and presses the define key. It is often the case that the motion being altered has several associated motions that require alteration individually. It is time consuming and inaccurate for the engineer to attempt to re-teach all these associated motions. The method presented here allows a GLOBAL SAVE feature to automatically update motions which are related to the newly modified motion. The GLOBAL SAVE feature always saves the new endpoint information in the current record.

It then examines the previous record which contains the previous endpoint information. It compares the old endpoints contained in both records, and any newly changed joint goals that were previously related (i.e., fall within the user- defined capture window) are displayed on the pendant. At this time, the user either accepts these joint goal changes for the displayed joint set or toggles any joint in or out. When the desired joint set appears on the pendant, the user accepts them by pressing the ACCEPT key and the computer adjusts the records according to the following rules: *Only those joints displayed on the pendant are adjusted. * Those joints that fell within the capture window are assigned the exact same joint goal for the newly defined endpoint. * Deltas are applied to the joint goals which fell outside the window. * Note that no changes are made to joints that have not been moved. GLOBAL SAVE continues to sel...