Patent ID: 9207668
Filing Date: 2015-12-08
Classification: B25J,G05B

Abstract:
1. A method for creating in a controller of a robot prior to said robot performing work on a known workpiece contour a program to follow a path to use a real tool held by said robot to perform work on said workpiece known contour, said method comprising: operating, prior to said robot performing work on said workpiece contour, said robot to use a tool that is either said real tool or a tangible tool that cannot perform work on said workpiece to obtain a plurality of guiding points related to said workpiece contour, one or more of said plurality of guiding points not on said workpiece contour, said path to be followed when said robot uses said real tool perform work on said workpiece not including said one or more of said plurality of guiding points not on said workpiece contour; defining, prior to said robot performing work on said workpiece contour, from said plurality of guiding points a path including said plurality of guiding points for movement of said robot holding said tool that is either said real tool or said tangible tool relative to said workpiece contour; moving, prior to said robot performing work on said workpiece contour, said robot holding said tool that is either said real or said tangible tool using as a guide said path including said plurality of guiding points; using, prior to said robot performing work on said workpiece contour, a signal from a force sensor on said robot to determine, when said robot is holding said tool that is either said real tool or said tangible tool and moves prior to said robot performing work on said workpiece contour to follow said path including said plurality of guiding points, if said moving real or tangible tool is in contact with said workpiece contour; said controller changing in response to said force sensor signal, when said robot holding said real tool or said tangible tool moves prior to said robot performing work on said workpiece contour and is following said path including said plurality of guiding points and is not in contact with said workpiece contour, the direction of said moving tool that is either said real or said tangible tool so as to bring said moving tool in contact with said workpiece contour; gathering one or more points intermediate said guiding points when said robot holding said tool that is either said real or said tangible tool moves said tool prior to said robot performing work on said workpiece contour to have said tool contact said workpiece contour without said tool performing work on said workpiece contour; and using said gathered one or more points intermediate said guiding points and said guiding points in contact with said contour to define said path for said robot holding said real tool to follow when said real tool is to perform work on said workpiece contour.