Patent ID: 9545719
Date: 2017-01-17
CPC Classifications: B25J,G05B

Claim:
1. A robotic arm controlling device for controlling a robotic arm that is disposed at a job site and comprises an arm unit and a hand unit, wherein an eye-in-hand vision device is disposed on the arm unit for capturing a hand vicinity image at a movement end of the arm unit, and an eye-to-hand vision device is disposed at the job site for capturing an ambient image of the robotic arm, the robotic arm controlling device comprising: a control device disposed at a remote end for moving the robotic arm and receiving images captured by the eye-in-hand vision device and the eye-to-hand vision device, wherein the control device has a monitor showing an eye-to-hand frame and an eye-in-hand frame side by side, wherein the eye-to-hand frame shows an arm ambient image captured by the eye-to-hand vision device and has an arm control gesture area showing an image of control gesture, wherein the eye-in-hand frame shows the hand vicinity image captured by the eye-in-hand vision device and has a hand control gesture area showing the image of control gesture; a gesture recognition device for detecting a control gesture and transmitting a detected control gesture signal to the control device, and showing the image of control gesture in the arm control gesture area or the hand control gesture area; and wherein the control device receives the control gesture signal detected by the gesture recognition device, moves the robotic arm, and divides a movement mode of the robotic arm controlling device for the robotic arm into an arm movement mode and a hand movement mode, wherein in the arm movement mode, the control device aided by the arm ambient image shown on the eye-to-hand frame and an arm control gesture moves the arm unit to a target at a high velocity, wherein in the hand movement mode, the control device aided by the hand vicinity image shown on the eye-in-hand frame and a hand control gesture moves the hand unit to the target at a low velocity.