公开(公告)号：US09417625B2

公开(公告)日：2016-08-16

申请号：US14089911

申请日：2013-11-26

Applicant: Fanuc America Corporation

Inventor： Randy A. Graca ,  Thomas R. Galloway ,  Nivedhitha Giri ,  Gordon Geheb

IPC: B25J9/16 ,  G05B19/418

CPC classification number: G05B19/41815 ,  B25J9/1671 ,  B25J9/1682 ,  B25J9/1692 ,  G05B2219/32351 ,  G05B2219/32385 ,  G05B2219/39013 ,  G05B2219/39014 ,  G05B2219/39021 ,  G05B2219/39102 ,  G05B2219/39135 ,  Y02P90/26

Abstract: A system for calibrating a multi-robot system includes a robot simulation device having a processor disposed therein for creating a simulation work cell of an operation of a real robot work cell, the robot simulation device configured to communicate with a robot control system controlling the robots of the real robot work cell. The simulation work cell is created based upon a predetermined layout of the real robot work cell. The system further includes a software program executed by at least one of the robot simulation device and the robot control system for calculating a part tracking offset between the simulation work cell and the real robot work cell for controlling the robots.

Abstract translation: 一种用于校准多机器人系统的系统，包括机器人模拟装置，其具有设置在其中的处理器，用于创建真实机器人工作单元的操作的仿真工作单元，所述机器人模拟装置被配置为与控制机器人的机器人控制系统进行通信 的真正的机器人工作单元。 基于真实机器人工作单元的预定布局创建模拟工作单元。 该系统还包括由机器人模拟装置和机器人控制系统中的至少一个执行的用于计算模拟工作单元和用于控制机器人的真实机器人工作单元之间的零件跟踪偏移的软件程序。

公开(公告)号：US09415512B2

公开(公告)日：2016-08-16

申请号：US14471016

申请日：2014-08-28

Applicant: Fanuc America Corporation

Inventor： Sai-Kai Cheng ,  Gordon Geheb ,  Nivedhitha Giri ,  Randy A. Graca ,  David J. O'Toole

IPC: G06F19/00 ,  B25J9/16

CPC classification number: B25J9/1664 ,  G05B19/408

Abstract: A system and method for enhancing a visualization of coordinate points within a robot's working envelope is disclosed. Part data associated with a position of a part, which may include part offset from a known position, is read using a teach pendant program. The part data is automatically stored within a hidden program instruction of the teach pendant program. The part data may be stored within the part program in a motion instruction associated with a motion line of the teach pendant program.

Abstract translation: 公开了一种用于增强机器人工作范围内的坐标点可视化的系统和方法。 使用示教程序读取与可能包括从已知位置偏移的部分的部分的位置相关联的部件数据。 部件数据自动存储在教导程序的隐藏程序指令中。 部件数据可以存储在零件程序中的与教导吊坠程序的运动线相关联的运动指令中。

公开(公告)号：US20160059414A1

公开(公告)日：2016-03-03

申请号：US14471016

申请日：2014-08-28

Applicant: Fanuc America Corporation

Inventor： Sai-Kai Cheng ,  Gordon Geheb ,  Nivedhitha Giri ,  Randy A. Graca ,  David J. O'Toole

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B19/408

Abstract: A system and method for enhancing a visualization of coordinate points within a robot's working envelope is disclosed. Part data associated with a position of a part, which may include part offset from a known position, is read using a teach pendant program. The part data is automatically stored within a hidden program instruction of the teach pendant program. The part data may be stored within the part program in a motion instruction associated with a motion line of the teach pendant program.

Abstract translation: 公开了一种用于增强机器人工作范围内的坐标点可视化的系统和方法。 使用示教程序读取与可能包括从已知位置偏移的部分的部分的位置相关联的部件数据。 部件数据自动存储在教导程序的隐藏程序指令中。 部件数据可以存储在零件程序中的与教导吊坠程序的运动线相关联的运动指令中。

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.

公开(公告)号：US20140148949A1

公开(公告)日：2014-05-29

申请号：US14089911

申请日：2013-11-26

Applicant: Fanuc America Corporation

Inventor： Randy A. Graca ,  Thomas R. Galloway ,  Nivedhitha Giri ,  Gordon Geheb

IPC: G05B19/418

CPC classification number: G05B19/41815 ,  B25J9/1671 ,  B25J9/1682 ,  B25J9/1692 ,  G05B2219/32351 ,  G05B2219/32385 ,  G05B2219/39013 ,  G05B2219/39014 ,  G05B2219/39021 ,  G05B2219/39102 ,  G05B2219/39135 ,  Y02P90/26

Abstract: A system for calibrating a multi-robot system includes a robot simulation device having a processor disposed therein for creating a simulation work cell of an operation of a real robot work cell, the robot simulation device configured to communicate with a robot control system controlling the robots of the real robot work cell. The simulation work cell is created based upon a predetermined layout of the real robot work cell. The system further includes a software program executed by at least one of the robot simulation device and the robot control system for calculating a part tracking offset between the simulation work cell and the real robot work cell for controlling the robots.

Abstract translation: 一种用于校准多机器人系统的系统，包括机器人模拟装置，其具有设置在其中的处理器，用于创建真实机器人工作单元的操作的仿真工作单元，所述机器人模拟装置被配置为与控制机器人的机器人控制系统进行通信 的真正的机器人工作单元。 基于真实机器人工作单元的预定布局创建模拟工作单元。 该系统还包括由机器人模拟装置和机器人控制系统中的至少一个执行的用于计算模拟工作单元和用于控制机器人的真实机器人工作单元之间的零件跟踪偏移的软件程序。