公开(公告)号：US20230014857A1

公开(公告)日：2023-01-19

申请号：US17952987

申请日：2022-09-26

Applicant: ABB Schweiz AG

Inventor： Fan Dai ,  Nuo Li ,  Marcel Dix ,  Dongliang Cao

IPC: B25J9/16 ,  G06F3/0486 ,  G06F3/04815

Abstract: A system and method for programming a robot includes providing a 3D representation of workpieces to be handled by the robot, and of a working environment; synthesizing and displaying a view of the working environment comprising an image of the workpieces at respective initial positions; identifying matching features of the selected workpiece and of the working environment which are able to cooperate to hold the workpiece in a final position in the working environment, and a skill by which the matching features can be brought to cooperate; identifying an intermediate position from where applying the skill to the workpiece moves the workpiece to the final position; and adding to a motion program for the robot a routine for moving the workpiece from its initial position to the intermediate position and for applying the skill to the workpiece at the intermediate position.