US 12,337,484 B2
Robot with smart trajectory recording
Jacob F. Aas, Windsor, CO (US)
Assigned to LINCOLN GLOBAL, INC., Santa Fe Springs, CA (US)
Filed by Lincoln Global, Inc., Santa Fe Springs, CA (US)
Filed on Mar. 29, 2023, as Appl. No. 18/127,766.
Application 18/127,766 is a continuation in part of application No. 17/880,802, filed on Aug. 4, 2022, granted, now 12,172,318.
Claims priority of provisional application 63/280,289, filed on Nov. 17, 2021.
Prior Publication US 2023/0234230 A1, Jul. 27, 2023
Int. Cl. B25J 9/16 (2006.01); B23K 9/127 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1666 (2013.01) [B23K 9/127 (2013.01); B25J 11/005 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of determining a collision-free space for a robotic welding system, the method comprising:
fixing a location of a part to be welded in a 3D coordinate space of a robotic welding system;
moving an arm of the robotic welding system around the part within the 3D coordinate space;
recording data corresponding to positions and orientations of the arm in the 3D coordinate space as the arm is moved within the 3D coordinate space around the part;
translating the data to swept volumes of data within the 3D coordinate space; and
merging the swept volumes of data to generate 3D geometry data representing a continuous collision-free space within the 3D coordinate space.
 
11. A method of determining a collision-free space for a robotic welding system, the method comprising:
moving a positioner mechanism in coordination with moving an arm of a robotic welding system through a 3D space of a welding environment, wherein the robotic welding system has coordinated kinematic control of the arm and the positioner mechanism;
recording higher-dimensional joint space data corresponding to combined positions and orientations of joints of the arm and joints of the positioner mechanism as the arm and the positioner mechanism are moved in coordination through the 3D space; and
mapping the higher-dimensional joint space data to a continuous higher-dimensional volume space data that represents 3D volumes occupied by at least the arm and the positioner mechanism, during the moving, wherein the continuous higher-dimensional volume space data represents collision-free configurations of at least the arm and the positioner mechanism.