Robotic navigation system and method

Abstract

A robotic navigation system is configured to move a robotic arm of a robot relative to a surface. The robotic navigation system includes a sensor, a handheld navigation unit, and a controller. The sensor is associated with the robotic arm. The sensor is configured to determine a status parameter of the robotic arm relative to the surface and provide sensor signals indicative of the status parameter. The handheld navigation unit is moveable with respect to one or more of a plurality of axes to indicate a commanded movement for the robot. The handheld navigation unit is configured to provide movement signals based on the commanded movement for the robot. The controller is configured to provide control signals for the robot based on the movement signals provided by the handheld navigation unit and the sensor signals provided by the sensor, wherein the control signals are configured to move the robot. The resulting robotic motion may dynamically track a desired feature or a component by correction and overriding a portion of the hand guided motion vector.

What is claimed is: 
     
         1 . A robotic navigation system configured to move a robotic arm of a robot relative to a surface, the robotic navigation system comprising:
 a sensor associated with the robotic arm, the sensor configured to determine a status parameter of the robotic arm relative to the surface and provide sensor signals indicative of the status parameter;   a handheld navigation unit moveable with respect to one or more of a plurality of axes to indicate a commanded movement for the robot, the handheld navigation unit configured to provide movement signals based on the commanded movement for the robot; and   a controller configured to provide control signals for the robot based on the movement signals provided by the handheld navigation unit and the sensor signals provided by the sensor, the control signals configured to move the robot.   
     
     
         2 . The robotic navigation system of  claim 1  wherein the sensor is mounted on the robotic arm. 
     
     
         3 . The robotic navigation system of  claim 2  wherein the sensor comprises at least one of a laser and a camera. 
     
     
         4 . The robotic navigation system of  claim 3  wherein the camera is configured to receive reflected light from the laser. 
     
     
         5 . The robotic navigation system of  claim 4  wherein the controller is configured to determine a shape of the surface based on the received reflected light from the laser, the control signals configured to move the robotic arm along a path that is a predetermined distance from an identified portion of the surface. 
     
     
         6 . The robotic navigation system of  claim 5  wherein the predetermined distance is an offset distance from the surface. 
     
     
         7 . The robotic navigation system of  claim 5  wherein the identified portion of the surface is an edge of the surface. 
     
     
         8 . The robotic navigation system of  claim 2  wherein the sensor comprises a force sensor. 
     
     
         9 . The robotic navigation system of  claim 1  wherein the handheld navigation unit includes a mount configured to engage any one of a plurality of mounting features positioned at a plurality of locations on the robot or in proximity of the robot. 
     
     
         10 . The robotic navigation system of  claim 1  wherein the control signals are configured to move the robot along a path relative to the surface, the path defined at least in part by the commanded movement and restrictions on the commanded movement that maintain the status parameter within a target range. 
     
     
         11 . The robotic navigation system of  claim 10  wherein the status parameter is an offset distance from the surface. 
     
     
         12 . The robotic navigation system of  claim 10  wherein the status parameter is a force upon the surface. 
     
     
         13 . The robotic navigation system of  claim 10  wherein the status parameter is a distance from an edge on the surface. 
     
     
         14 . The robotic navigation system of  claim 1  wherein the controller is configured to store robot coordinates separate from the robot. 
     
     
         15 . A robotic system comprising:
 a robot including a moveable member;   a sensor configured to detect a parameter of the moveable member and provide a sensor signal;   a handheld navigation unit moveable with respect to one or more of a plurality of axes to indicate a commanded movement for the moveable member, the handheld navigation unit configured to provide movement signals based on the commanded movement of the moveable member; and   a controller configured to provide control signals for the robot based on the movement signals from the handheld navigation unit and the sensor signals from the sensor.   
     
     
         16 . The robotic system of  claim 15  wherein an orientation of the moveable member is defined by orientation coordinates, wherein the controller is configured to store the orientation coordinates of the moveable member, and wherein the control signals are configured to move the robot such that the orientation coordinates of the moveable member change. 
     
     
         17 . The robotic system of  claim 15  wherein the moveable member is a robotic arm. 
     
     
         18 . The robotic system of  claim 15  wherein the sensor is configured to detect a status parameter of the moveable member relative to a surface. 
     
     
         19 . The robotic system of  claim 18  wherein the control signals are configured to move the robot along a path relative to the surface, the path defined at least in part by the commanded movement and restrictions on the commanded movement that maintain the parameter of the moveable member within a target range. 
     
     
         20 . A method of controlling a robot comprising:
 receiving movement signals from a handheld navigation unit, the movement signals providing an instructed path of movement indicative of a desired path of movement for the robot;   assigning coordinates along the desired path of movement based on the received movement signals from the handheld navigation unit;   moving the robot to the assigned coordinates along the desired path of movement;   receiving sensor signals from a sensor coupled to the robot as the robot is moved along the desired path of movement, the sensor signals providing a status parameter of the robot;   reassigning new coordinates along the desired path of movement if the status parameter of the robot is outside of a target range; and   moving the robot to the reassigned new coordinates along the desired path of movement.