The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 07, 2021
Filed:
Sep. 23, 2020
Abb Schweiz Ag, Baden, CH;
Fan Dai, Zwingenberg, DE;
ABB SCHWEIZ AG, Baden, CH;
Abstract
A method for visually controlling a robot arm which is displaceable in a plurality of degrees of freedom, the robot arm carrying at least one displaceable reference point, includes the steps of: a) placing at least one camera so that a target point where the reference point is to be placed is contained in an image output by the at least one camera; b) displacing the robot arm so that the reference point is within the image; c) determining a vector which, in the image, connects the reference point to the target point; d) choosing one of the plurality of degrees of freedom, moving the robot arm by a predetermined standard distance in the one degree of freedom, and recording a standard displacement of the reference point within the image resulting from the movement of the robot arm; e) repeating step d) at least until the vector can be decomposed.