公开(公告)号：US20250058459A1

公开(公告)日：2025-02-20

申请号：US18794314

申请日：2024-08-05

Applicant: FANUC AMERICA CORPORATION

Inventor： Yi Luo ,  Min-Ren Jean ,  Peter Swanson ,  Wan Kei Kam ,  Nivedhitha Giri

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A method for performing robot dynamic path modification using a remote tool center point (RTCP) coordinate frame, for applications such as material dispensing. A processing tool is fixedly mounted in a workcell and the robot holds and moves the workpiece during the processing. The RTCP coordinate frame is defined at the tip of the tool. A nominal processing path on the workpiece is defined, and a prescribed offset distance from the tip of the tool to the workpiece is defined. A sensor measures the actual offset distance from the tool tip to the workpiece. A controller applies the offset in the RTCP coordinate frame and calculates robot motions causing the robot to move the workpiece nominal path past the tool tip at the offset distance. The controller converts the offset from the RTCP frame to a workcell frame, and performs inverse kinematics calculations to generate robot joint motion commands.