Remote robotic welding with a handheld controller

Abstract

This disclosure describes systems, methods, and devices related to robotic point capture and motion control. A robotic device may synchronize one or more first axes of the robotic device with one or more second axes of a handheld device. The device may determine a welding path using the handheld device. The device may perform a weld by the traversing of an end effector of the robotic across the welding path, wherein the end effector comprises a welding tip.

What is claimed is: 
     
         1 . A robotic system, comprising:
 a handheld device configured to send signals that effectuate movements of an end effector of a robot an along a movement path defined by a plurality of points in space;   a handheld interface of the handheld device to capture the plurality of points in space in a training mode;   an interchangeable attachment that attaches to the handheld device; and   a controller unit coupled to the handheld device to process input and output signals from the handheld device.   
     
     
         2 . The robotic system of  claim 1 , wherein the movement path is saved into at least one memory by pressing at least one button on the handheld device when capturing a first point and a second point along the movement path. 
     
     
         3 . The robotic system of  claim 1 , wherein the interchangeable attachment is used on the end effector of the robot during an execution of a play mode that is based on the training mode. 
     
     
         4 . The robotic system of  claim 1 , wherein the input and output signals are associated with capturing the plurality of points in space and capturing orientation and location of the handheld device in space. 
     
     
         5 . The robotic system of  claim 1 , wherein the handheld device is a wireless device or a wired device. 
     
     
         6 . The robotic system of  claim 1 , wherein the robotic system utilizes magnetic, optical, or inertial measurement units (IMUs) to capture a location and orientation of the handheld device. 
     
     
         7 . The robotic system of  claim 1 , wherein the interchangeable attachment is a tool, a welding tip, or a point device. 
     
     
         8 . The robotic system of  claim 1 , wherein the interchangeable attachment comprises a tip that is associated with coordinates of one or more points in space of the handheld device. 
     
     
         9 . The robotic system of  claim 1 , wherein the handheld device comprises a first set of tracking dots, wherein the end effector of the robot comprises a second set of tracking dots, wherein the first set of tracking dots and the second set of tracking dots are detected by a sensor tracking the handheld device and the end effector in space. 
     
     
         10 . The robotic system of  claim 9 , wherein the first set of tracking dots and the second set of tracking dots are magnetic or optical. 
     
     
         11 . A robotic controller device, comprising:
 at least one memory that stores computer-executable instructions; and   at least one processor configured to access the at least one memory, wherein the at least one processor is configured to execute the computer-executable instructions to:
 capture a first point of a plurality of points in space, wherein the first point is associated with a first position of a handheld device in space in a training mode, wherein the handheld device comprises an interchangeable attachment replicating an attachment that attaches to an end effector of a robot; 
 traverse the handheld device following a movement path in space; 
 capture a second point of the plurality of points in space, wherein the second point is associated with a second position of the handheld device in space; and 
 generate a plot of the movement path using the first point and the second point for execution by the robot in a play mode at a later time. 
   
     
     
         12 . The robotic controller device of  claim 11 , wherein the movement path is saved into the at least one memory by pressing at least one button on the handheld device when capturing the first point and the second point along the movement path. 
     
     
         13 . The robotic controller device of  claim 11 , wherein the attachment is used on the end effector of the robot during an execution of a play mode that is based on the training mode. 
     
     
         14 . The robotic controller device of  claim 11 , wherein the handheld device is a wireless device or a wired device. 
     
     
         15 . The robotic controller device of  claim 11 , wherein the interchangeable attachment is a tool, a welding tip, or a point device. 
     
     
         16 . The robotic controller device of  claim 11 , wherein the interchangeable attachment comprises a tip that is associated with coordinates of one or more points in space of the handheld device. 
     
     
         17 . The robotic controller device of  claim 11 , wherein the handheld device comprises a first set of tracking dots, wherein the end effector of the robot comprises a second set of tracking dots, wherein the first set of tracking dots and the second set of tracking dots are detected by a sensor tracking the handheld device and the end effector in space. 
     
     
         18 . The robotic controller device of  claim 17 , wherein the first set of tracking dots and the second set of tracking dots are magnetic or optical. 
     
     
         19 . A method comprising:
 capturing, using one or more processors, a first point of a plurality of points in space, wherein the first point is associated with a first position of a handheld device in space in a training mode, wherein the handheld device comprises an interchangeable attachment replicating an attachment that attaches to an end effector of a robot;   traversing the handheld device following a movement path in space;   capturing a second point of the plurality of points in space, wherein the second point is associated with a second position of the handheld device in space; and   generating a plot of the movement path using the first point and the second point for execution by the robot in a play mode at a later time.   
     
     
         20 . The method of  claim 19 , wherein the movement path is saved into at least one memory by pressing at least one button on the handheld device when capturing the first point and the second point along the movement path.