ROBOT TRAJECTORY LEARNING BY DEMONSTRATION WITH PROBE SENSOR

摘要

A robot learning system for trajectory learning of a robot (RB) having a robot arm between a base and a tool center point (TCP). A user interface allows the user to control the robot arm in order to follow a desired trajectory during a real-time. A probe sensor (PS) is mounted on the TCP during the learning session. The probe sensor (PS) measures a distance parameter (Z) indicative of distance from the TCP and a surface forming the trajectory to be followed, and an orientation parameter (X, Y) indicative of orientation of the TCP and the surface forming the trajectory to be followed. These distance and orientation data are provided as a feedback to the controller of the robot (CTL) during the real-time learning session, thereby allowing the robot controller software to assist the user in following a desired trajectory in a continuous manner. Especially, the probe sensor (PS) may have a displaceable tip (TP) to follow a surface and having a neutral or center position, and where the robot controller software controls the robot movements to seek the neutral or center position irrespective of the user's control inputs. Data (DT) is logged during the learning session, so as to allow later control of the robot (RB) in response to the data (DT) logged during the learning session.