Patent ID: 11897142
Assignee: BYSTRONIC LASER AG
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A method for creating a robot control program for operating bending tool, the method comprising the steps of:
generating image material of a machining operation of a workpiece on the bending machine by means of at least one optical sensor;
extracting at least one part of at least one of the workpiece and at least one part of a hand of an operator handling the workpiece from the image material by comparing a 3D object of the workpiece known from a bending plan with the image material;
generating at least one of a trajectory and a sequence of movement points of at least one of at least one part of the workpiece and at least one part of a hand of an operator from the extracted image material;
creating a robot control program by reverse transformation of at least one of the trajectory and the sequence of movement points;
dividing the image material into handling sections, in which the hand is in contact with the workpiece, and into machining sections, in which the hand is not in contact with the workpiece; and
controlling gripping tools of the robot accordingly at the transitions between the sections.