公开(公告)号：US20170021500A1

公开(公告)日：2017-01-26

申请号：US14807464

申请日：2015-07-23

Applicant: Google Inc.

Inventor： Benjamin M. Davis

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1697 ,  G05B19/4083 ,  G05B2219/33271 ,  G05B2219/36503 ,  G05B2219/39032

Abstract: Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.

Abstract translation: 公开了用于在工作环境中确定机器人的工件偏移数据的示例系统和方法。 在工作环境中操作的机器人可以接收用于确定工件偏移量的指示。 工件偏移可以描述工作环境的工作平面相对于机器人的基面的位置和角度方向。 响应于该指示，机器人可以识别工作平面。 机器人可以被控制以接触工作平面的一个或多个点。 机器人可以基于在各个接触时刻的机器人的相应位置来确定接触点相对于基面的相应点位置。 基于确定的接触点的相应点位置，机器人可以确定工作平面相对于基础平面的位置和角度取向。

公开(公告)号：US20170021495A1

公开(公告)日：2017-01-26

申请号：US14807434

申请日：2015-07-23

Applicant: Google Inc.

Inventor： Benjamin M. Davis

IPC: B25J9/10

CPC classification number: B25J9/1005 ,  G05B19/4015 ,  G05B2219/37231 ,  G05B2219/39026 ,  G05B2219/40589 ,  Y10S901/02 ,  Y10S901/41

Abstract: Example systems and methods are disclosed for determining tool offset data for a tool attached to a robot at an attachment point. The method may include controlling the robot to contact a reference object with the tool. The reference object may be a rigid object with a known location. A force feedback sensor of the robot may indicate when the tool has contacted the reference object. Once contact is made, data indicating robot position during tool contact may be received. Additionally, the robot may temporarily stop movement of the tool to prevent damage to the tool or the reference object. Next, tool offset data may be determined based on the position of the reference object relative to the robot and the received robot position data. The tool offset data may describe the distance between at least one point on the tool and the attachment point.

Abstract translation: 公开了用于确定在附接点附接到机器人的工具的刀具偏移数据的示例系统和方法。 该方法可以包括控制机器人与工具联系参考对象。 参考对象可以是具有已知位置的刚性对象。 机器人的力反馈传感器可以指示工具何时接触到参考对象。 一旦接触，可以接收指示在工具接触期间机器人位置的数据。 此外，机器人可能暂时停止工具的运动，以防止损坏工具或参考物体。 接下来，可以基于参考对象相对于机器人的位置和接收到的机器人位置数据来确定刀具偏移数据。 刀具补偿数据可以描述刀具上的至少一个点与附接点之间的距离。