US6836700B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
System and method generating a trajectory for an end effector
Assignee: Advanced Robotics Technologies Inc
•
Filing: 2002-08-21
•
Granted: 2004-12-28
•
Expires: 2022-08-21
Abstract
Abstract A method, program embodied on a computer readable medium, and various systems are provided for generating a process trajectory. A normalized image of an object is displayed on a display device of a computer system, the object including a surface that is to be processed using an end effector. A number of predefined trajectories are stored in a memory of the computer system, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions. A trajectory generation system is implemented to generate the process trajectory for the end effector to process the surface of the object by associating at least one of the predefined trajectories with the normalized image.
Inventors
- 👤 Charles A. Greene
- 👤 Larry S. Phillips
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 11:38
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1656; B25J9/1664; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/40; G05B2219/40446; G05B2219/40452; G05B2219/40503; G05B2219/40519
Claims Analysis
Total Claims: 67
Claim 1
Independent Claim
102 words
A method for generating a process trajectory, comprising: displaying a normalized image of an object on a display device of a computer system, the object including a surface that is to be processed using an end effector; providing a number of predefined trajectories in a memory of the computer system, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; generating the process trajectory for the end effector to process the surface of the object by associating at least one of the predefined trajectories with the normalized image.
Claim 2
Independent Claim
102 words
A method for generating a process trajectory, comprising: displaying a normalized image of an object on a display device of a computer system, the object including a surface that is to be processed using an end effector; providing a number of predefined trajectories in a memory of the computer system, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; generating the process trajectory for the end effector to process the surface of the object by associating at least one of the predefined trajectories with the normalized image.
Claim 3
Dependent Claim
36 words
The method of claim 1 , further comprising: displaying a non-normalized version of the image on the display device; and calibrating the non-normalized version of the image on the display device, thereby generating the normalized image.
Claim 4
Dependent Claim
55 words
The method of claim 2 , wherein the calibrating of the non-normalized version of the image on the display device further comprises: identifying a first point and a second point on the non-normalized version of the image on the display device; and entering a distance between the first and second points into the computer system.
Claim 5
Dependent Claim
37 words
The method of claim 1 , wherein the providing of the number of predefined trajectories in the memory of the computer system further comprises providing for a predefined trajectory that is in the shape of a box.
Claim 6
Dependent Claim
38 words
The method of claim 1 , wherein the providing of the number of predefined trajectories in the memory of the computer system further comprises providing for a predefined trajectory that is in the shape of a concave surface.
Claim 7
Dependent Claim
37 words
The method of claim 1 , wherein the providing of the number of predefined trajectories in the memory of the computer system further comprises providing for a predefined trajectory that is in the shape of a cylinder.
Claim 8
Dependent Claim
29 words
The method of claim 1 , wherein the providing of the number of predefined trajectories in the memory of the computer system further comprises providing for a reciprocation trajectory.
Claim 9
Dependent Claim
37 words
The method of claim 1 , wherein the providing of the number of predefined trajectories in the memory of the computer system further comprises providing for a predefined trajectory that is in the shape of a cone.
Claim 10
Dependent Claim
37 words
The method of claim 1 , wherein the providing of the number of predefined trajectories in the memory of the computer system further comprises providing for a predefined trajectory that is in the shape of a polygon.
Claim 11
Dependent Claim
39 words
The method of claim 1 , wherein the providing of the number of predefined trajectories in the memory of the computer system further comprises defining an orientation transition of the end effector at least one of the predefined trajectories.
Claim 12
Dependent Claim
39 words
The method of claim 1 , wherein the providing of the number of predefined trajectories in the memory of the computer system further comprises defining an orientation of the end effector along at least one of the predefined trajectories.
Claim 13
Dependent Claim
28 words
The method of claim 11 , further comprising providing for a user specification of the orientation of the end effector along at least one of the predefined trajectories.
Claim 14
Dependent Claim
62 words
The method of claim 1 , wherein the generating of the process trajectory for the end effector to process the surface of the object by associating at least one of the predefined trajectories with the normalized image further comprises: associating a number of the predefined trajectories with the normalized image; providing for a transition trajectory between consecutive ones of the predefined trajectories.
Claim 15
Dependent Claim
60 words
The method of claim 1 , wherein the generating of the process trajectory for the end effector to process the surface of the object by associating at least one of the predefined trajectories with the normalized image further comprises fitting the at least one of the predefined trajectories to a portion of the normalized image displayed on the display device.
Claim 16
Dependent Claim
52 words
The method of claim 14 , wherein the fitting of the at least one of the predefined trajectories to a portion of the normalized image displayed on the display device further comprises fitting the at least one of the predefined trajectories to the object displayed on the display device in two dimensions.
Claim 17
Dependent Claim
31 words
The method of claim 14 , further comprising configuring the at least one of the trajectories by entering a depth of the at least one predefined trajectories into the computer system.
Claim 18
Dependent Claim
35 words
The method of claim 14 , further comprising configuring the at least one predefined trajectories by entering a distance between a number of passes in the at least one predefined trajectories into the computer system.
Claim 19
Dependent Claim
32 words
The method of claim 14 , further comprising configuring the at least one predefined trajectories by entering a number of passes of the at least one predefined trajectories into the computer system.
Claim 20
Dependent Claim
105 words
A program embodied in a computer-readable medium for generating a process trajectory, comprising: code that generates a display of a normalized image of an object on a display device, the object including a surface that is to be processed using an end effector; a number of predefined trajectories, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; code that generates the process trajectory for the end effector to process the surface of the object by facilitating an association of at least one of the predefined trajectories with the normalized image.
Claim 21
Dependent Claim
105 words
A program embodied in a computer-readable medium for generating a process trajectory, comprising: code that generates a display of a normalized image of an object on a display device, the object including a surface that is to be processed using an end effector; a number of predefined trajectories, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; code that generates the process trajectory for the end effector to process the surface of the object by facilitating an association of at least one of the predefined trajectories with the normalized image.
Claim 22
Dependent Claim
49 words
The program embodied in a computer-readable medium of claim 19 , further comprising: code that displays a non-normalized version of the image on the display device; and code that provides for a calibration of the non-normalized version of the image on the display device, thereby generating the normalized image.
Claim 23
Dependent Claim
70 words
The program embodied in a computer-readable medium of claim 20 , wherein the code that provides for the calibration of the non-normalized version of the image on the display device further comprises: code that facilitates a user identification of both a first point and a second point on the non-normalized version of the image on the display device; and code that inputs a distance between the first and second points.
Claim 24
Dependent Claim
30 words
The program embodied in a computer-readable medium of claim 19 , wherein the number of predefined trajectories further comprises a predefined trajectory that is in the shape of a box.
Claim 25
Dependent Claim
31 words
The program embodied in a computer-readable medium of claim 19 , wherein the number of predefined trajectories further comprise a predefined trajectory that is in the shape of a concave surface.
Claim 26
Dependent Claim
30 words
The program embodied in a computer-readable medium of claim 19 , wherein the number of predefined trajectories further comprise a predefined trajectory that is in the shape of a cylinder.
Claim 27
Dependent Claim
22 words
The program embodied in a computer-readable medium of claim 19 , wherein the number of predefined trajectories further comprise a reciprocation trajectory.
Claim 28
Dependent Claim
30 words
The program embodied in a computer-readable medium of claim 19 , wherein the number of predefined trajectories further comprise a predefined trajectory that is in the shape of a cone.
Claim 29
Dependent Claim
30 words
The program embodied in a computer-readable medium of claim 19 , wherein the number of predefined trajectories further comprise a predefined trajectory that is in the shape of a polygon.
Claim 30
Dependent Claim
30 words
The program embodied in a computer-readable medium of claim 19 , wherein at least one of the number of predefined trajectories further comprises an orientation transition of the end effector.
Claim 31
Dependent Claim
26 words
The program embodied in a computer-readable medium of claim 19 , wherein an orientation of the end effector is defined along each of the predefined trajectories.
Claim 32
Dependent Claim
33 words
The program embodied in a computer-readable medium of claim 29 , further comprising code that provides for a user specification of the orientation of the end effector along each of the predefined trajectories.
Claim 33
Dependent Claim
65 words
The program embodied in a computer-readable medium of claim 19 , wherein the code that generates the process trajectory for the end effector to process the surface of the object by facilitating the association of at least one of the predefined trajectories with the normalized image further comprises code that provides for a creation of a transition trajectory between consecutive ones of the predefined trajectories.
Claim 34
Dependent Claim
25 words
The program embodied in a computer-readable medium of claim 19 , further comprising code that inputs a depth of the at least one predefined trajectories.
Claim 35
Dependent Claim
30 words
The program embodied in a computer-readable medium of claim 19 , further comprising code that inputs a distance between a number of passes in the at least one predefined trajectories.
Claim 36
Dependent Claim
27 words
The program embodied in a computer-readable medium of claim 19 , further comprising code that inputs a number of passes of the at least one predefined trajectories.
Claim 37
Dependent Claim
75 words
The program embodied in a computer-readable medium of claim 19 , wherein the code that generates the process trajectory for the end effector to process the surface of the object by facilitating the association of at least one of the predefined trajectories with the normalized image further comprises code that facilitates a user fitting of the at least one of the predefined trajectories to a portion of the normalized image displayed on the display device.
Claim 38
Dependent Claim
66 words
The program embodied in a computer-readable medium of claim 35 , wherein the code that facilitates the fitting of the at least one of the predefined trajectories to the portion of the normalized image displayed on the display device further comprises code that facilitates a user fitting the at least one of the predefined trajectories to the object displayed on the display device in two dimensions.
Claim 39
Independent Claim
127 words
A system for generating a process trajectory, comprising: a processor circuit having a processor and a memory; a trajectory generation system stored in the memory and executable by the processor, the trajectory generation system comprising: logic that generates a display of a normalized image of an object on a display device, the object including a surface that is to be processed using an end effector; a number of predefined trajectories, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; logic that generates the process trajectory for the end effector to process the surface of the object by facilitating an association of at least one of the predefined trajectories with the normalized image.
Claim 40
Independent Claim
127 words
A system for generating a process trajectory, comprising: a processor circuit having a processor and a memory; a trajectory generation system stored in the memory and executable by the processor, the trajectory generation system comprising: logic that generates a display of a normalized image of an object on a display device, the object including a surface that is to be processed using an end effector; a number of predefined trajectories, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; logic that generates the process trajectory for the end effector to process the surface of the object by facilitating an association of at least one of the predefined trajectories with the normalized image.
Claim 41
Dependent Claim
44 words
The system of claim 37 , further comprising: logic that displays a non-normalized version of the image on the display device; and logic that provides for a calibration of the non-normalized version of the image on the display device, thereby generating the normalized image.
Claim 42
Dependent Claim
65 words
The system of claim 38 , wherein the logic that provides for the calibration of the non-normalized version of the image on the display device further comprises: logic that facilitates a user identification of both a first point and a second point on the non-normalized version of the image on the display device; and logic that inputs a distance between the first and second points.
Claim 43
Dependent Claim
25 words
The system of claim 37 , wherein the number of predefined trajectories further comprises a predefined trajectory that is in the shape of a box.
Claim 44
Dependent Claim
26 words
The system of claim 37 , wherein the number of predefined trajectories further comprise a predefined trajectory that is in the shape of a concave surface.
Claim 45
Dependent Claim
25 words
The system of claim 37 , wherein the number of predefined trajectories further comprise a predefined trajectory that is in the shape of a cylinder.
Claim 46
Dependent Claim
17 words
The system of claim 37 , wherein the number of predefined trajectories further comprise a reciprocation trajectory.
Claim 47
Dependent Claim
25 words
The system of claim 37 , wherein the number of predefined trajectories further comprise a predefined trajectory that is in the shape of a cone.
Claim 48
Dependent Claim
25 words
The system of claim 37 , wherein the number of predefined trajectories further comprise a predefined trajectory that is in the shape of a polygon.
Claim 49
Dependent Claim
25 words
The system of claim 37 , wherein at least one of the number of predefined trajectories further comprises an orientation transition of the end effector.
Claim 50
Dependent Claim
21 words
The system of claim 37 , wherein an orientation of the end effector is defined along each of the predefined trajectories.
Claim 51
Dependent Claim
28 words
The system of claim 47 , further comprising logic that provides for a user specification of the orientation of the end effector along each of the predefined trajectories.
Claim 52
Dependent Claim
60 words
The system of claim 37 , wherein the logic that generates the process trajectory for the end effector to process the surface of the object by facilitating the association of at least one of the predefined trajectories with the normalized image further comprises logic that provides for a creation of a transition trajectory between consecutive ones of the predefined trajectories.
Claim 53
Dependent Claim
20 words
The system of claim 37 , further comprising logic that inputs a depth of the at least one predefined trajectories.
Claim 54
Dependent Claim
25 words
The system of claim 37 , further comprising logic that inputs a distance between a number of passes in the at least one predefined trajectories.
Claim 55
Dependent Claim
22 words
The system of claim 37 , further comprising logic that inputs a number of passes of the at least one predefined trajectories.
Claim 56
Dependent Claim
70 words
The system of claim 37 , wherein the logic that generates the process trajectory for the end effector to process the surface of the object by facilitating the association of at least one of the predefined trajectories with the normalized image further comprises logic that facilitates a user fitting of the at least one of the predefined trajectories to a portion of the normalized image displayed on the display device.
Claim 57
Dependent Claim
61 words
The system of claim 53 , wherein the logic that facilitates the fitting of the at least one of the predefined trajectories to the portion of the normalized image displayed on the display device further comprises logic that facilitates a user fitting the at least one of the predefined trajectories to the object displayed on the display device in two dimensions.
Claim 58
Independent Claim
102 words
A system for generating a process trajectory, comprising: means for displaying a normalized image of an object on a display device of a computer system, the object including a surface that is to be processed using an end effector; means for storing a number of predefined trajectories, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; and means for generating the process trajectory for the end effector to process the surface of the object by associating at least one of the predefined trajectories with the normalized image.
Claim 59
Independent Claim
102 words
A system for generating a process trajectory, comprising: means for displaying a normalized image of an object on a display device of a computer system, the object including a surface that is to be processed using an end effector; means for storing a number of predefined trajectories, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; and means for generating the process trajectory for the end effector to process the surface of the object by associating at least one of the predefined trajectories with the normalized image.
Claim 60
Dependent Claim
21 words
The system of claim 55 , wherein at least one of the predefined trajectories is in the shape of a box.
Claim 61
Dependent Claim
22 words
The system of claim 55 , wherein at least one of the predefined trajectories is in the shape of a concave surface.
Claim 62
Dependent Claim
21 words
The system of claim 55 , wherein at least one of the predefined trajectories is in the shape of a cylinder.
Claim 63
Dependent Claim
18 words
The system of claim 55 , wherein at least one of the predefined trajectories is a reciprocation trajectory.
Claim 64
Dependent Claim
21 words
The method of claim 55 , wherein at least one of the predefined trajectories is in the shape of a cone.
Claim 65
Dependent Claim
21 words
The method of claim 55 , wherein at least one of the predefined trajectories is in the shape of a polygon.
Claim 66
Independent Claim
125 words
A method for generating a process trajectory, comprising: displaying a normalized image of an object on a display device of a computer system, the object including a surface that is to be processed using an end effector; and providing a number of predefined trajectories in a memory of the computer system, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; generating a process trajectory for the end effector to process the surface of the object by associating with the normalized image at least one of a number of predefined trajectories that define a motion of the end effector to process a surface of one of a number of spatial definitions.
Claim 67
Independent Claim
125 words
A method for generating a process trajectory, comprising: displaying a normalized image of an object on a display device of a computer system, the object including a surface that is to be processed using an end effector; and providing a number of predefined trajectories in a memory of the computer system, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions; generating a process trajectory for the end effector to process the surface of the object by associating with the normalized image at least one of a number of predefined trajectories that define a motion of the end effector to process a surface of one of a number of spatial definitions.
References Cited (Backward Citations)
US5477459A
Cited
US5429682A
Cited
US5645884A
Cited
US5957263A
Cited
US6108949A
Cited
US6356806B1
Cited
US6278906B1
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2007-12-28 | 2008-06-28 | 2008-12-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-12-28 | 2012-06-28 | 2012-12-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-12-28 | 2016-06-28 | 2016-12-28 | $7700.00 | Window Closed / Lapsed |