A system for operating robot in a real environment and a virtual environment

Abstract

Disclosed is a robotic system (104) and a method (600) having a control unit (202). The control unit is configured to generate a virtual environment having a virtual robot (402) based on a received set of first parameters to emulate a real environment. The control unit (202) is configured to actuate the virtual robot (402) to simulate an operation of a robot (108). At least the virtual robot (402) actuates independently, or the robot (108) and the virtual robot (402) actuate in synchrony based on the simulation. Further, at least the virtual robot (402) actuates independently, depending on the set of second parameters or the robot (108) and the virtual robot (402) actuates, depending on the set of second parameters. This configuration ensures multi modal operation of the robotic system (104), thus ensuring ease of operation of the robot (108).

Description

A SYSTEM FOR OPERATING ROBOT IN A REAL. ENVIRONMENT AND A VIRTUAL ENVIRONMENTTECHNICAL FIELD

[0001] The present disclosure relates to a collaborative robot, and more particularly relates to a system and a method for operating the collaborative robot in a virtual environment and a real environment to perform several operations.BACKGROUND

[0002] Until recently, many human scale tasks have been highly reliant on human workers with the benefit of reconfiguring them on-the-job. Further, automating the human workers has not been possible with industrial robots or by other assembly line automation schemes as they need highly structured workflow's and require special safety fences. Further this, in effect, isolates them from humans and inhibits safe human-robot interaction to flexibly reconfigure tasks. In recent years, with advancement of technology, it has become possible to automate human-scale tasks more feasibly with collaborative robots, also known as cobots to deploy and work alongside humans safely. They promise to provide flexibility to reconfigure workflows and also increase productivity and precision not possible by humans alone.

[0003] However, collaborative robots have certain limitations, such as the collaborative robots are mostly programmed first on a user equipment, for example, a laptop, a computer and then scheduled to perform the desired task on a workpiece. They are programmed very similar to industrial robots limiting their potential. When the operator has to change the operation of the collaborative robots, the operator has to first change the program on the user equipment and then the collaborative robots are scheduled to perform the changed operation. This increases the hassle for the operator that the operator has to change the program every time for the operation and then the collaborative robots are configured to operate. Thus, when the program provided by the operator on the user equipment does not match the operation to be performed on the workpiece by the collaborative robots, thesafety of the operator is compromised and hampers the productivity of the collaborative robots. Thus, there is a need to provide an interaction environment that overcomes all the above mentioned drawbacks of robots in general and existing limitations of collaborative robots.

[0004] Many technological solutions have been developed to overcome the abovementioned problems. For instance, a known art discloses a kind of a robot graphic programming interactive system based on a webpage and a mobile terminal . However, this configuration also suffers from the limitation that the operator accesses the programming separately on the user equipment and thus, is unable to monitor the robot simulation on the user equipment simultaneously with the programming. Further, this also inhibits the promise of flexibility to reconfigure the workflows by the end user. So, there lies the possibility that the program provided by the operator on the user equipment does not match the operation to be performed on the workpiece by the collaborative robots. This raises safety' concern for the operator and hampers the productivity of the collaborative robots.

[0005] Therefore, in view of the above-mentioned problems, it is advantageous to provide a system and a method that can overcome one or more above-mentioned problems.SUMMARY

[0006] This summary is provided to introduce a selection of concepts, in a simplified format, that are further described in the detailed description of the invention. This summary / is neither intended to identify key or essential inventive concepts of the invention and nor is it intended for determining the scope of the invention.

[0007] The present disclosure discloses a robotic system. The robotic system includes a control unit. The control unit is configured to receive a set of first parameters corresponding to a real environment. The set of first parameters includes at least one of a physical parameter associated with dimensions of the real environment, a spatial location and orientation of a workspace, and a spatial information of the workspace. The control unit, is configured to receive a set ofsecond parameters associated with an operation of a robot. The set of second parameters includes at least one of an end-of-arm tool integrated with the robot, an operation instruction of the robot, a type of the robot, digital and analog signals from external devices, a motion of the robot, and actions of the robot. The control unit is configured to generate a virtual environment having a virtual robot based on the received set of first parameters to emulate the real environment. The control unit is configured to actuate the virtual robot to simulate the operation of the robot. At least the virtual robot actuates independently, or the robot and the virtual robot actuate in synchrony based on the simulation. Further, at least the virtual robot actuates independently, depending on the set of second parameters or the robot and the virtual robot actuates, depending on the set of second parameters.

[0008] In another embodiment, also disclosed herein is a method to operate the robotic system. The method includes receiving, by a control unit, a set of first parameters from a robot corresponding to a real environment. The set of first parameters includes at least one of a physical parameter associated with dimensions of the real environment, a spatial location and orientation of a workspace, and a spatial information of the workspace. The method includes receiving, by the control unit, a set of second parameters associated with an operation of the robot in the real environment. The set of second parameters includes at least one of an end-of-arm tool integrated with the robot, an operation instruction of the robot, a type of the robot, digital and analog signals from external devices, a motion of the robot, and actions of the robot. The method further includes generating, by the control unit, a virtual environment having a virtual robot based on the received set of first parameters to emulate the real environment. Lastly, the method includes actuating, by the control unit, the virtual robot to simulate the robot. At least the virtual robot actuates independently, or the robot and the virtual robot actuates in synchrony based on the simulation. Further, at least the virtual robot actuates independently, depending on the set of second parameters, or the robot and the virtual robot actuates, depending on the set of second parameters.

[0009] To further clarify the advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specificembodiments thereof, which is illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. The invention will be described and explained with additional specificity and detail with the accompanying drawings.BRIEF DESCRIPTIO OF THE DRAWINGS

[0010] These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:Figure 1 illustrates an environment of a robotic system communicably coupled with a user equipment (UE) and a robot, in accordance with an embodiment of the present disclosure;Figure 2 illustrates a block diagram of the robotic system, in accordance with an embodiment of the present disclosure,Figure 3 illustrates schematic view of the robot, in accordance with an embodiment of the present disclosure;Figures 4A-4B illustrate a virtual robot on a display unit of the UE, in accordance with an embodiment of the present disclosure;Figure 5 illustrates multi-modal operations performed by the robotic system, in accordance with an embodiment of the present disclosure;Figure 6 illustrates a method performed by the robotic system, in accordance with an embodiment of the present disclosure; andFigures 7 illustrate use case of the system, in accordance with an embodiment of the present disclosure.

[0011] Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have necessarily been drawn to scale. Furthermore, in terms of the construction of the device, a plurality of components of the device may have been represented in the drawings by conventional symbols,and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.DETAILED DESCRIPTION OF FIGURES

[0012] For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skilled in the art to which invention belongs. The system and examples provided herein are illustrative only and not intended to be limiting.

[0013] For example, the term “some” as used herein may be understood as “none” or “one” or “more than one” or “all.” Therefore, the terms “none,” “one,” “more than one,” “more than one, but not all” or “all” would fall under the definition of “some ” It should be appreciated by a person skilled in the art that the terminology and structure employed herein is for describing, teaching, and illuminating some embodiments and their specific features and elements and therefore, should not be construed to limit, restrict, or reduce the spirit and scope of the present disclosure in any way.

[0014] For example, any terms used herein, such as “includes,” “comprises,” “has,” “consists,” and similar grammatical variants do not specify an exact limitation or restriction, and certainly do not exclude the possible addition of a plurality of features or elements, unless otherwise stated. Further, such terms must not be taken to exclude the possible removal of the plurality of the listed features and elements,unless otherwise stated, for example, by using the limiting language including, but not limited to, “must comprise” or “needs to include.”

[0015] Whether or not a certain feature or element was limited to being used only once, it may still be referred to as “plurality of features” or “plurality of elements” or “at least one feature” or “at least one element.” Furthermore, the use of the terms “plurality of’ or “at least one” feature or element do not preclude there being none of that feature or element, unless otherwise specified by limiting language including, but not limited to, “there needs to be plurality of...” or “plurality of elements is required ”

[0016] Unless otherwise defined, all terms and especially any technical and / or scientific terms, used herein may be taken to have the same meaning as commonly understood by a person ordinarily skilled in the art.

[0017] Reference is made herein to some “embodiments.” It should be understood that an embodiment is an example of a possible implementation of any features and / or elements of the present disclosure. Some embodiments have been described for the purpose of explaining plurality of the potential ways in which the specific features and / or elements of the proposed disclosure fulfil the requirements of uniqueness, utility, and non-obviousness.

[0018] Use of the phrases and / or terms including, but not limited to, “a first embodiment,” “a further embodiment,” “an alternate embodiment,” “one embodiment,” “an embodiment,” “multiple embodiments,” “some embodiments,” “other embodiments,” “further embodiment”, “furthermore embodiment”, “additional embodiment” or other variants thereof do not necessarily refer to the same embodiments. Unless otherwise specified, plurality of particular features and / or elements described in connection with plurality of embodiments may be found in one embodiment, or may be found in more than one embodiment, or may be found in all embodiments, or may be found in no embodiments. Although plurality of features and / or elements may be described herein in the context of only a single embodiment, or in the context of more than one embodiment, or in the context of all embodiments, the features and / or elements may instead be providedseparately or in any appropriate combination or not at all. Conversely, any features and / or elements described in the context of separate embodiments may alternatively be realized as existing together in the context of a single embodiment.

[0019] Any particular and all details set forth herein are used in the context of some embodiments and therefore should not necessarily be taken as limiting factors to the proposed disclosure.

[0020] Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

[0021] Figure 1 illustrates an environment 100 of a robotic system 104 communicably coupled with a user equipment (UE) 102 and a robot 108, in accordance with an embodiment of the present disclosure. Figure 2 illustrates a block diagram of the robotic system 104, in accordance with an embodiment of the present disclosure. Figure 3 illustrates a schematic view of the robot 108, in accordance with an embodiment of the present disclosure. Figures 4A-4B illustrate a virtual robot 402 on a display unit 106 of the UE 102, in accordance with an embodiment of the present disclosure. Figure 5 illustrates multi-modal operations performed by the robotic system 104, in accordance with an embodiment of the present disclosure.

[0022] In an embodiment, the user equipment (UE) 102 may be a laptop, desktop, a mobile or any other electronic device, without departing from the scope of the present disclosure. In an embodiment, the user equipment 102 includes the display unit 106, without departing from the scope of the present disclosure. Further, the robotic system 104 may be communicatively coupled with the UE 102 and the robot 108, without departing from the scope of the present disclosure. In another embodiment, the robotic system 104 may be coupled with a plurality of UEs, without departing from the scope of the present disclosure. In an embodiment, the robotic system 104 as disclosed facilitates multi modal operation, thus, ensuring ease of operation of the robot 108 in the real environment, without departing from the scope of the present disclosure.

[0023] Further, the robotic system 104 may be configured to actuate the virtual robot 402 independently or along with the robot 108, without departing from the scope of the present disclosure.

[0024] In an embodiment, the robotic system 104 may include, but is not limited to, a control unit 202 among other examples which are explained in detail in subsequent paragraphs.

[0025] The control unit 202 may be communicatively coupled to the UE 102 and the robot 108 simultaneously, without departing from the scope of the present disclosure. In an embodiment, the control unit 202 includes a processor / controller 204, a memory 206, module(s) 208. The memory 206, in one example, may store the instructions to carry out the operations of the modules 208. The modules 208 and the memory 206 may be coupled to the processor 204.

[0026] The processor 204 can be a single processing unit or several units, all of which could include multiple computing units. The processor 204 may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processor, central processing units, state machines, logic circuitries, and / or any devices that manipulate signals based on operational instructions. Among other capabilities, the processor 204 is configured to fetch and execute computer-readable instructions and data stored in the memory 206. The processor 204 may include one or a plurality of processors. At this time, one or a plurality of processors may be a general-purpose processor, such as a central processing unit (CPU), an application processor (AP), or the like, a graphics-only processing unit such as a graphics processing unit (GPU), a visual processing unit (VPU), and / or an Al-dedicated processor such as a neural processing unit (NPU). The one or a plurality of processors control the processing of the input data in accordance with a predefined operating rule or artificial intelligence (Al) model stored in the non- volatile memory and the volatile memory. The predefined operating rule or machine learning model is provided through training or learning.

[0027] The memory 206 may include any n on-transitory computer-readable medium known in the art including, for example, volatile memory, such as staticrandom-access memory (SRAM) and dynamic random-access memory (DRAM), and / or non-volatile memory, such as read-only memory (ROM), erasable programmable ROM, flash memories, hard disks, optical disks, and magnetic tapes.

[0028] The modules 208, amongst other things, include routines, programs, objects, components, data structures, etc., which perform particular tasks or implement data types. The modules 208 may also be implemented as, signal processor(s), state machine(s), logic circuitries, and / or any other device or component that manipulates signals based on operational instructions.

[0029] Further, the modules 208 can be implemented in hardware, instructions executed by a processing unit, or by a combination thereof. The processing unit can comprise a computer, a processor, such as the processor 204, a state machine, a logic array, or any other suitable devices capable of processing instructions. The processing unit can be a general-purpose processor which executes instructions to cause the general -purpose processor to perform the required tasks or, the processing unit can be dedicated to performing the required functions. In another embodiment of the present disclosure, the modules 208 may be machine-readable instructions (software) winch, when executed by the processor 204 / processing unit, perform any of the described functionalities. Further, the data serves, amongst other things, as a repository for storing data processed, received, and generated by one or more of the modules 208.

[0030] The modules 208 may perform different functionalities which may include, but may not be limited to actuating the virtual robot 402 independently or along with the robot 108. Accordingly, the modules 208 may include a receiving module 210, a generating module 212, and an actuating module 214. Each of the receiving module 210, the generating module 212, and the actuating module 214 may be in communication with each other. Further, each of the receiving module 210, the generating module 212, and the actuating module 214 may be in communication with the processor 204.

[0031] The control unit 202, particularly, the receiving module 210, the generating module 212, and the actuating module 214 may be operated to perform a specifictask to actuate the virtual robot 402 independently or along with the robot 108, which is explained in the subsequent paragraphs in conjunction with Figure 1 to Figure 4B.

[0032] In an embodiment, the receiving module 210 may be configured to receive a set of first parameters corresponding to a real environment. In an embodiment, the set of first parameters includes at least one of a physical parameter associated with dimensions of the real environment, a spatial location and orientation of a workspace, and a spatial information of the workspace, without departing from the scope of the present disclosure. In an embodiment, the control unit 202 may be coupled to a repository 216 configured to store a plurality of models of the workspace. In an embodiment, the repository? 216 stores a plurality of objects, without departing from the scope of the present disclosure. In an embodiment, the repository 216 may be in the control unit 202, without departing from the scope of the present disclosure. In another embodiment, the repository' 216 may be a cloud storage, without departing from the scope of the present disclosure.

[0033] Further, in an embodiment, the receiving module 210 may be configured to receive a. set of second parameters associated with an operation of the robot 108. The set of second parameters includes at least one of an end-of arm tool integrated with the robot 108, an operation instruction of the robot 108, a type of the robot 108, digital and analog signals from external devices, a motion of the robot 108, and actions of the robot 108, without departing from the scope of the present disclosure. In an embodiment, the end-of-arm tool may be attached to a distal end of an aim of the robot 108. Further, the end-of-arm tool may be adapted to assist the operation of the robot 108 in the real environment.

[0034] In an embodiment, the receiving module 210 receives the set of first parameters and the set of second parameters from the robot 108. In an embodiment, the robot 108 may be a real robot, without departing from the scope of the present disclosure. In an embodiment, the real robot may be referred as the robot 108, without departing from the scope of the present disclosure. The robot 108 may be adapted to generate the set. of first parameters and the set of second parameters byone of a static mapping and a dynamic mapping, without departing from the scope of the present disclosure.

[0035] In an embodiment, the static mapping includes defining the spatial location and orientation of the workspace of the real environment by moving the arm of the robot 108 by a user input over the workspace. The robot 108 determines the spatial location and orientation of the workspace. Further, the determined spatial location and orientation of the workspace may be communicated as one of the set of first parameters and the set of second parameters to the user equipment 102 through the control unit 202 to generate a virtual environment having the virtual robot 402 (as shown in Figures 4A-4B). In one example, a user / operator may move the arm of the robot 108, manually or automatically, over the workspace to determine the spatial location and orientation of the workspace and communicate as one of the set of first parameters and the set of second parameters to the user equipment 102. In an embodiment, the workspace may be generated in the UE 102 when the LIE 102 receives tactile and position information from the robot 108 and also, accordingly, generate size and shape of objects of the workspace.

[0036] Further, in an embodiment, the dynamic mapping includes defining the spatial location and orientation of the workspace having a machine-readable code. The robot 108 detects the machine-readable code and communicates as the one of the set of first parameters and the set of second parameters to the user equipment 102 through the control unit 202 to form the virtual environment having the virtual robot 402 (as shown in Figures 4A-4B). In one example, the robot 108 includes a camera to read / detect a machine readable code of the workspace and accordingly communicate as the one of the set of first parameters and the set of second parameters to the user equipment 102 through the control unit 202. Further, the user operating the UE 102 after receiving the one of the set of first parameters and the set of second parameters, select the objects from the repository 216 having stored objects and thus forms the virtual environment.

[0037] In an embodiment, the robot 108 communicates to the UE 102 through the control unit 202 by a plurality of components. In an embodiment, the robot 108 comprises a plurality of links 302 and a plurality of joints 304. In an embodiment.the plurality of joints 304 may be serially connected with each other with the plurality of links 302. The plurality of joints 304 includes a plurality of sensors, a drive controller, and a plurality of actuators. Further, the plurality of sensors, the drive controller, and the plurality of actuators communicate a value indicative of the set of first parameters and the set of second parameters to the virtual robot 402 on the UE 102 through the control unit 202.

[0038] In an embodiment, after receiving the set of first parameters, the generating module 212 generates the virtual environment having the virtual robot 402, where the virtual environment emulates the real environment. In an embodiment, the virtual robot 402 may be based on predetermined data stored in the repository 216 coupled to the control unit 202. Further, in an embodiment, the virtual robot 402 may be adapted to mimic the operation of the robot 108 in the virtual environment (as shown in Figures 4A-4B).

[0039] In an embodiment, the virtual environment having the virtual robot 402 may be further developed by an input provided through the UE 102. The input may be a set of third parameters including one or more functional block programming, cartesian coordinates, jog interface, and defining instructions for the operation of the robot 108. Further, the display unit 106 of the UE 102 may be configured to display a graphical programming interface. The graphical programming interface provides access to the virtual robot 402 in the virtual environment and the input simultaneously on the display unit 106. This configuration eliminates the requirement of switching between the virtual robot in the virtual environment and the functional block programming, thus, providing comfort to the user and eliminating chances of error in the operation.

[0040] In an embodiment, after generating the virtual environment having the virtual robot 108, the actuation module 214 actuates the virtual robot 402 to simulate the operation of the robot 108. In an embodiment, at least the virtual robot 402 actuates independently. Further, in an embodiment, the robot 108 and the virtual robot 402 actuate in synchrony based on the simulation. Further, at least the virtual robot 402 actuates independently, depending on the set of secondparameters, or the robot 108 and the virtual robot 402 actuates in synchrony, depending on the set of second parameters.

[0041] In an embodiment, the actuation module 214 may be configured to actuate the robot 108 in the real environment in synchrony with the virtual robot 402 in the virtual environment. In an embodiment, the robot 108 is actuated in the real environment to execute an operation based on the simulation of the operation of the robot 108 in the virtual environment depending on the set of first parameters and the set of second parameters.

[0042] Further, in an embodiment, the actuation module 214 mav be configured to actuate the virtual robot 402 by the input provided in the UE 102. Further, the receiving module 210 of the control unit 202 receives a value indicative associated with the actuation of the virtual robot 402 in the virtual environment based on the set of second parameters and the input. Further, the control unit 202 communicates the value to the robot 108 in the real environment to actuate the robot 108 in the real environment.

[0043] In another embodiment, the robot 108 may actuate in the virtual environment (as shown in Figure 5). For instance, the virtual robot 402 may mimic the robot 108 and operate in the virtual environment, without departing from the scope of the present disclosure. This configuration ensures ease of programming of the robot 108. This configuration ensures testing and simulation of the robot 108. Further, this configuration also assists the operation of the robot 108 in the real environment accurately and efficiently.

[0044] In yet another embodiment, the virtual robot 402 may operate in the real environment (as shown in Figure 5), without departing from the scope of the present disclosure. For instance, the user may configure the virtual robot 402 from the repository 216 as per the requirement or the virtual robot 402 may mimic the real robot 108. Further, the virtual environment emulates the real environment and the virtual robot 402 operates in the virtual environment. Thus, this configuration provides accuracy of the working of the robot 108, and may predict and avoid collision of the robot 108. This configuration provides flexibility to theoperator / user to check compatibility of the robot 108 in the real environment and thus, increases the efficiency of the overall operation. Further, this configuration provides advanced planning of the operation even when the robot 108 is not available due to reasons like maintenance, etc.

[0045] Figure 6 illustrates a method 600 performed by the robotic system 104, in accordance with an embodiment of the present disclosure.

[0046] The method 600 can be performed by programmed computing devices, for example, based on instructions retrieved from non -transitory computer readable media. The computer readable media can include machine-executable or computer- executable instructions to perform all or portions of the described method. The computer readable media may be, for example, digital memories, magnetic storage media, such as magnetic disks and magnetic tapes, hard drives, or optically readable data storage media.

[0047] The method 600 includes a series of operations shown at step 602 through step 608 of Figure 6. The method 600 may be performed by the robotic system 104 in conjunction with the control unit 202, the details of which are explained in conjunction with Figures 1 to 5, and the same are not repeated here for the sake of brevity in the present disclosure. The method 600 begins at step 602.

[0048] At step 602, the method 600 includes receiving, by the control unit 202, the set of first parameters from the robot corresponding to the real environment. The set of first parameters includes the at least one of the physical parameters associated with dimensions of the real environment, the spatial location and orientation of the workspace, and the spatial information of the workspace.

[0049] At step 604, the method 600 includes receiving, by the control unit 202, the set of second parameters associated with the operation of the robot 108 in the real environment. The set of second parameters includes the at least one of the end-of- arm tools integrated with the robot 108, the operation in st ruction of the robot 108, the type of the robot 108, digital and analog signals from external devices, the motion of the robot 108, and actions of the robot 108.

[0050] At step 606, the method 600 includes generating, by the control unit 202, the virtual environment having the virtual robot 402 based on the received set of first parameters to emulate the real environment.

[0051] At step 608, the method 600 includes actuating, by the control unit 202, the virtual robot 402 to simulate the robot 108. Further, at least the virtual robot 402 actuates independently, or the robot 108 and the virtual robot 402 actuate in synchrony based on the simulation. Furthermore, at least the virtual robot 402 actuates independently, depending on the set of second parameters or the robot 108 and the virtual robot 402 actuates, depending on the set of second parameters.

[0052] Figures 7 illustrate use case of the robotic system 104, in accordance with an embodiment of the present disclosure.

[0053] Referring to Figure 7, in one example, the robot 108, after actuating by the operations as explained from Figure 1 to 6, operates on a mobile station 702 and places materials on the workspace precisely through a tool gripper provided at the one of the end-of-ann tool. Further, the user also works simultaneously on the workspace with the robot 108, thus ensuring the safety of the user.

[0054] As would be gathered, the robotic system 104 and the method 600 as disclosed provide a comprehensive approach to generate the virtual environment having the virtual robot 402, where the virtual environment emulates the real environment. Further, the present disclosure discloses the actuation of the virtual robot 402 independently or in synchrony with the robot 108. This configuration provides flexibility to the user to operate the virtual robot 402 on the LIE 102 independently emulating the real environment and then operating the robot 108 accordingly in the real environment. This ensures that the operation of the robot 108 is checked virtually, debugging errors, and thus, ensures the safety of the user, once the robot 108 starts operating accordingly. Further, this configuration also provides flexibility to the user to operate the robot 108 in the virtual environment through the virtual robot 402. This configuration reduces error in the operation and also increases the productivity time of the robot 108. This configurations also reduce the possibility of manufacturing error of the robot 108, thus being cost-effective. Further, the configuration disclosed in the present disclosure also enhances safety of the user. This configuration provides the graphical programming interface which provides access to the virtual robot 402 in the virtual environment and the input simultaneously on the display unit 106. This configuration ensures that the user does not have to switch between the virtual robot in the virtual environment and the functional block programming, thus, providing comfort to the user and eliminates possibility of the error in the operation, thus increases productivity and ensures the safety of the user.

[0055] While specific language has been used to describe the present disclosure, any limitations arising on account thereto, are not intended. As would be apparent to a person in the art, various working modifications may be made to the method 600 in order to implement the inventive concept as taught herein. The drawings and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment.METHOD AND SYSTEM: FOR UN-BRAKING A COLLABORATIVEROBOT DURING POWER LOSSTECHNICAL FIELD

[0001] The present disclosure generally relates to the field of industrial robots. More particularly, the present disclosure discloses a system and a method for un- braking a collaborative robot during power loss.BACKGROUND

[0002] A collaborative robot is an industrial robot that safely operates alongside humans in a shared workspace. The collaborative robot augments humans in executing precise / critical and repeatable tasks. The collaborative robot is powered by an alternating current (AC) power supply, generally of 230V single phase supply available in the workspace.

[0003] The collaborative robot is used in automation solutions such as machine tending, de-burring, pick and place, welding and other such areas, further, the collaborative robot is expected to work in tandem with machines like Computerized Numerical Control (CNC) machines, arc welding machines and so on.

[0004] However, when there is a sudden power shutdown or discontinuity on the line voltage due to unforeseen reasons, the collaborative robot’s brakes get engaged immediately, thereby stopping the robotic arm inside or hazardously close to other equipment. There is a chance that these sudden stop positions may potentially cause damage to the collaborative robot or to the equipment.

[0005] Further, ISO standards for collaborative robots also specify that the collaborative robots must be capable of being moved without the use of drive power in emergency or abnormal situations. Thus, a solution is required to enable the collaborative robots to un-brake robot joints and subsequently move the collaborative robots to a safe state.

[0006] In view of the above-mentioned problems, it is advantageous to provide a system and method that can overcome the above-mentioned problems and limitations associated with.SUMMARY

[0007] This summary is provided to introduce a selection of concepts, in a simplified format, that are further described in the detailed description of the invention. This summary is neither intended to identify essential inventive concepts of the invention nor is it intended for determining the scope of the invention.

[0008] According to one embodiment of the present disclosure, disclosed herein is a method for un-braking a collaborative robot during power loss. The method includes switching, by a power management unit of a master controller unit to a battery unit of the master controll er unit, power in response to detecting the power loss in the collaborative robot. The method includes sending, by an instruction unit of the master controller unit, instructions to a drive controller unit of the collaborative robot to engage one or more brakes of the collaborative robot in response to the switchi ng of the power. Further, the method includes initiating, by the master controller unit, a timer based on the instructions. The method includes determining, by the master controller unit, in response to initiating the timer, whether to move the collaborative robot based on a user input. Further, the method further includes activating, by the master controller unit, one or more joint sensors of the collaborative robot for un-braking based on the user input.

[0009] According to another embodiment of the present disclosure, disclosed herein is a system for un-braking a collaborative robot during power loss. The system comprises a master controller unit. The system comprises a power management unit of the master controller unit configured to switch power to a battery unit of the master controller unit, in response to detecting the power loss in the collaborative robot. The system comprises an instruction unit of the master controller unit configured to send instructions to a drive controller unit of the collaborative robot to engage one or more brakes of the collaborative robot inresponse to the switching of the power. The master controller unit is configured to initiate a tinier based on the instructions. The master controller unit is configured to determine whether to move the collaborative robot based on a user input, in response to initiating the timer. The master controller unit is configured to activate one or more joint sensors of the collaborative robot for un-b raking based on the user input.

[0010] To further clarify the advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof, which are illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. The invention will be described and explained with additional specificity7and detail in the accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0011] These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

[0012] Figure 1 illustrates an exemplary / environment for implementing a system for un-braking a collaborative robot during power loss, according to an embodiment of the present invention;

[0013] Figure 2 illustrates a block diagram of an exemplary / system for un-braking a collaborative robot during power loss, in accordance with an embodiment of the present disclosure;

[0014] Figure 3 illustrates a block diagram depicting the unit(s) of the system, in accordance with an embodiment of the present disclosure,

[0015] Figure 4 illustrates a block diagram depicting the unit(s) of the collaborative robot, in accordance with an embodiment of the present disclosure;

[0016] Figure 5 illustrates a flow chart, for a method for un-braking the collaborative robot during power loss, in accordance with an embodiment of the present disclosure;

[0017] Figure 6 illustrates a block diagram of the system for breaking and un- braking a plurality of collaborative robots during power loss, in accordance with an embodiment of the present disclosure;

[0018] Figure 7 illustrates a method for un-braking a collaborative robot during power loss, in accordance with an embodiment of the present disclosure; and

[0019] Figures 8A-8B illustrate an exemplary scenario associated with un-braking a collaborative robot during power loss, in accordance with an embodiment of the present disclosure.

[0020] Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have necessarily been drawn to scale. For example, the flow charts illustrate the method in terms of the most prominent steps involved to help to improve understanding of aspects of the present invention. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having the benefi t of the description herein.DETAILED DESCRIPTION

[0021] For the purpose of promoting an understanding of the principles of the invention, reference wall now be made to the various embodiments and specific language will be used to describe the same. It should be understood at the outset that although illustrative implementations of the embodiments of the present disclosure are illustrated below, the present invention may be implemented using any number of techniques, whether currently known or in existence. The present disclosure is not necessarily limited to the illustrative implementations, drawings,and techniques illustrated below, including the exemplary design and implementation illustrated and described herein, but may be modified within the scope of the present disclosure

[0022] It will be understood by those skilled in the art that the foregoing general description and the following detailed description are explanatory of the invention and are not intended to be restrictive thereof.

[0023] Reference throughout this specification to “an aspect”, “another aspect” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrase “in an embodiment”, “in another embodiment” and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.

[0024] It is to be understood that as used herein, terms such as, “includes,” “comprises,” “has,” etc. are intended to mean that the one or more features or elements listed are within the element being defined, but the element is not necessarily limited to the listed features and elements, and that additional features and elements may be within the meaning of the element being defined. In contrast, terms such as, “consisting of’ are intended to exclude features and elements that have not been listed.

[0025] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted to not unnecessarily obscure the embodiments herein. Also, the various embodiments described herein are not necessarily mutually exclusive, as some embodiments can be combined with one or more other embodiments to form new embodiments. The term “or” as used herein, refers to a non-exclusive or unless otherwise indicated. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein can be practiced and to further enable those skilled in the art. to practice the embodiments herein.Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.

[0026] The accompanying drawings are used to help easily understand various technical features and it should be understood that the embodiments presented herein are not limited by the accompanying drawings. As such, the present disclosure should be construed to extend to any alterations, equivalents, and substitutes in addition to those which are particularly set out in the accompanying drawings. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are generally only used to distinguish one element from another.

[0027] Unless otherwise defined, all terms, and especially any technical and / or scientific terms, used herein may be taken to have the same meaning as commonly understood by one having ordinary skill in the art.

[0028] Embodiments of the present invention wall be described below in detail with reference to the accompanying drawings.

[0029] A detailed methodology is explained in the following paragraphs of the disclosure.

[0030] It is an object of the invention to provide a system and method that overcomes the limitations found in prior art robotic systems.

[0031] It is another object of the invention to provide a method and system for un- braking a collaborative robot during pow'er loss.

[0032] It is another object of the invention to engage brakes in an industrial collaborative robot in power loss and be able to move safely.

[0033] It is another object of the invention to provide a method and system for un- braking individual joint(s) of the collaborative robot, unlike other solutions where complete robot or all joints are unbraked or gravity compensated at the same time.

[0034] Figure 1 illustrates an exemplary environment 100 for implementing a system 102 for un-braking a collaborative robot during power loss, according to an embodiment of the present invention. As shown in the figure, a collaborative robot 104 working with a user 108, communicates with the system 102 comprising a master controller unit 110, for un-braking during power loss.

[0035] The system 102 may include a software, a hardware, a combination of software or hardware, an in-built application on an electronic device or an application to be installed and operated on the electronic device in communication with a network interface. The system 102 may also be available via cloud-based server and available remotely from the electronic device.

[0036] It is important to recognize that the collaborative robot 104 also known as “cobots” may take many different forms depending on the particular requirements of the system to be implemented and the particular problems to be solved. While the invention will be described in connection with certain specific embodiments of a cobot 104, this description is not intended to limit the invention to those embodiments. Rather, the invention is intended to cover all types of designs and applications to which the technology may be beneficially applied. The cobot 104 may be deployed along side humans, has with joint sensors and is generally operated by DC motor. The cobot 104 comes in small formfactor and use a lot less power to move the same unit weight. The cobot 104 also moves in high speed and in a highly controlled way. The cobot 104 is able to work in fully autonomous mode, or collaborative mode or teach mode. Deploying the cobot 104 on space constrained facility is still possible to get the benefits of automation. The cobot 104 has DC motor based actuator transmission with a gear system providing a fixed gear ratio to achieve expected torque.

[0037] The network interface 106 may be configured to provide network connectivity and enable communication with paired devices such as the system 102 and the collaborative robot 104. The network connectivity may be provided via a wireless connection or a wired connection. For example, the network connectivity may be provided via cellular technology, such as 3rd Generation (3G), 4thGeneration (4G), 5thGeneration (5G), pre-5G, 6thGeneration (6G),Bluetooth, Local Area Network (LAN), Wi-Fi, cable, or any other wired / wireless communication technology.

[0038] Figure 2 illustrates a block diagram of an exemplary system 102 for un- braking a collaborative robot 104 during power loss, in accordance with an embodiment of the present disclosure. Figure 2 illustrates the collaborative robot 104 working with a user 108, communicates with the system 102 during power loss so that the collaborative robot 104 may be moved safely from one position to another by un-b raking specific joint sensors.

[0039] The system 102 may include one or more processors 202 (hereinafter referred to as the processor 202) which is communicatively coupled to a memory 204, one or more units 206, and a data unit 208.

[0040] In an example, the processor(s) 202 is configured to execute instructions stored in the memory 204 and to perform various operations as described in the embodiments of the present disclosure. The processor(s) 202 may include specialized processing units such as integrated system (bus) controllers, memory management control units, floating point units, graphics processing units, digital signal processing units, etc. In one embodiment, the processor 202 may include a central processing unit (CPU), a graphics processing unit (GPU), or both. The processor 202 may be one or more general processors, digital signal processors, application-specific integrated circuits, field-programmable gate arrays, servers, networks, digital circuits, analog circuits, combinations thereof, or other now known or later developed devices for analyzing and processing data. The processor 202 may execute one or more instructions, such as code generated manually (i.e., programmed) to perform one or more operations disclosed herein throughout the disclosure.

[0041] The processor(s) 202 may be disposed in communication with one or more input / output (I / O) devices via an Input / Output (I / O) interface. The I / O interface may employ communication code-division multiple access (CDMA), high-speed packet access (HSPA+), global system for mobile communications (GSM), long- term evolution (LTE), WiMax, and the like, etc. In another embodiment of thepresent invention, the I / O interface may employ ethernet, industrial wireless Local Area Network (LAN), Process Field Bus (PROFIBUS), Actuator Sensor (AS) Interface, and the like.

[0042] The memory 204 stores instructions to be executed by the processor 202 and may include one or more computer-readable storage media. The memory may include non-volatile storage elements. Examples of such non-volatile storage elements may include magnetic hard discs, optical discs, floppy discs, Solid State Drives (SSDs), Non-Volatile Memory Express (NVMe), Non-volatile Dual In-line Memory Unit (NVDIMM), Non-Volatile Random Access Memory (NVRAM), Non-volatile SRAM^ (NVSRAM), flash memories, or forms of electrically programmable memories (EPROM) or electrically erasable and programmable (EEPROM) memories. In addition, the memory' may, in some examples, be considered a non-transitory storage medium. The term “non-transitory” may indicate that the storage medium is not embodied in a carrier wave or a propagated signal. However, the term “non-transitory” should not be interpreted that the memory is non-movable. In some examples, the memory can be configured to store larger amounts of information. In certain examples, a non-transitory' storage medium may store data that can, over time, change (e.g., in Random Access Memory (RAM) or cache).

[0043] The data unit 208 may serve, amongst other things, as a repository / for storing data processed, received, and generated by one or more of the modules 206. The modules 206 may be implemented in hardware, software, or a combination of both. In an embodiment, the processor(s) 202 may work in conjunction with the modules 206 to perform the embodiments / functions discussed herein throughout the disclosure. The modules 206 may include a set of instructions that may be executed to cause the system 102 to perform any one or more of the methods disclosed herein. The modules 206 may be configured to perform the steps of the present disclosure using the data stored in the memory / 204. In one embodiment, the memory 204 may be configured to store the information as required by the modules 206 and the processor(s) 202. The modules 206 comprises a master controller unit 110 which enable the system 200 to performthe features / functions of the present disclosure, as discussed and explained in detail in conjunction with Figures 3 and 4 in the forthcoming paragraphs.

[0044] Figure 3 illustrates a block diagram depicting the master controller unit 110 of the system, in accordance with an embodiment of the present disclosure. Figure 4 illustrates a block diagram depicting the unit(s) of a collaborative robot, in accordance with an embodiment of the present disclosure. Figs. 3 and 4 are explained in conjunction with each other for the ease of explanation.

[0045] In an embodiment, the master controller unit 110 may include a rotatable switch 302, a battery unit 304, a switch 306, a power management unit 308, an instruction unit 310 and a switch mode power supply (SMPS) unit 312. The rotatable switch 302, the battery unit 304, the switch 306, the power management unit 308, the instruction unit 310 and the switch mode power supply (SMPS) unit 3 12 are communicable coupled with each other.

[0046] In an embodiment, the rotatable switch 302 is an ON / OFF knob placed on the master controller unit 110 for immediate access. The rotatable switch 302 may be configured to have at least two positions: a first position and a second position. The first position may be a default position which is maintained during normal operation of the cobot. The second position may be for emergency or when the user intends to move a particular joint without AC supply. The position of the rotatable switch 302 is changed / rotated to a non-default / second position.

[0047] In an embodiment, the battery unit 304 is either placed inside the master controller unit 110 or may be connected externally via connector terminals such as a portable 48V battery.

[0048] In an embodiment, the power management unit 308 detects loss of AC mains power and immediately turns ON the battery unit 304 connection switch. The turn ON time is such that there is no dip below the acceptable voltage level in the cobot 104. At the same time, the instruction unit 310 is informed about this loss of AC mains power, and the subsequent actions are taken by the instruction unit 310.

[0049] In an embodiment, the master controller unit 110 may operate on a lower voltage (eg: 12V) which is also generated by the power management unit 308 from the 48VDC.

[0050] In an embodiment, the switch 306 either connects / engages the battery unit 304 generating 48V or the SMPS unit 312 generating 48V to operate the cobot.

[0051] Further, the cobot 104 may include a drive controller unit 402, a joint sensor(s) 404, one or more brakes 406 and a motor 408. The drive controller unit 402, the joint sensor(s) 404, the one or more brakes 406 and the motor 408 are communicable coupled with each other.

[0052] The cobot 104 with brushless DC electric motor and respective drive controller unit generally work on a 24V or a 48V DC. This voltage level is maintained by an SMPS with inbuilt isolation (shock protection), to convert 230VAC RMS to 48VDC (or 24VDC) to supply the necessary current.

[0053] In an embodiment, master controller unit 110 is communicably connected with the drive controller unit 402. The master controller unit 110 via communication protocol instructs the drive controller unit 402 to engage brakes or disengage brakes depending on the state of the cobot. The drive controller unit 402 also periodically at a high frequency of, e.g., 1ms, scans joint sensors 404 of the cobot 104 for external force detection.

[0054] In an embodiment, the master controller unit 110 is configured to initiate a timer based on the instructions. The timer is of pre-defined duration selected by a user. The master controller unit 110 is configured to determine whether to move the collaborative robot based on a user input, in response to initiating the timer. The master controller unit 110 is configured to activate one or more joint sensors of the collaborative robot for un-braking based on the user input.

[0055] In an embodiment, the drive controller unit 402 is configured to measure a force applied on the one or more joint sensors continuously. The drive controller unit 402 is configured to detect one or more specific joint sensors on which the force is at least equal to a pre-defined threshold. The drive controller unit 402 isconfigured to un-brake the one or more specific joint sensors, in response to detecting that the force on one or more specific joint sensors is at least equal to a pre-defined threshold.

[0056] In an embodiment, the drive controller unit 402 is configured to detect the force applied on specific one or more joint sensors is less than a pre-defined threshold. The drive controller unit 402 is configured to engage the one or more brakes on the one or more specific joint sensors.

[0057] In an embodiment, the joint sensors 404 may be either position encoders or torque sensors. The external force on the joint sensors 403 may be detected by slight deflection in the position encoder count and / or by the torque sensor values.

[0058] In an embodiment, to switch power, the power management unit 308 is configured to connect the battery unit 304 of the master controller unit 110 to an external battery via connector terminals, in response to detecting the power loss in the collaborative robot.

[0059] Figure 5 illustrates a flow chart for a method for un-braking a collaborative robot during power loss, in accordance with an embodiment of the present disclosure.

[0060] Initially at operation 502, the power management unit of the master controller unit is configured to detect power loss in the collaborative robot.

[0061] In response to detecting power loss in the collaborative robot, at operation 504a, the master controller unit is configured to initiate a timer. At operation 504b, the power management unit of the master controller unit is configured to switch power to a batter unit. At operation 505c, an instruction unit of the master controller unit is configured to instruct a drive controller unit of the collaborative robot to engage one or more brakes of the collaborative robot in response to the switching of the power.

[0062] At operation 506, the master controller unit is configured to determine whether to move the collaborative robot based on a user input. The user input is rotating the knob on the master controller unit 110.

[0063] If no user input is received, then at operation 508, the master controller unit is configured to disengage the battery unit.

[0064] If the user input is received, then at operation 510, the master controller unit is configured to activate one or more joint sensors of the collaborative robot for un-braking.

[0065] At operation 512, the drive controller unit is configured to scan and measure a force applied on the one or more joint sensors continuously.

[0066] At operation 514, the drive controller unit is configured to detect one or more specific joint sensors on which the force is at least equal to a pre-defined threshold.

[0067] At operation 516, in response to detecting that the force on one or more specific joint sensors is not equal to a pre-defined threshold, the drive controller unit is configured to keep engaging the brakes on the one or more joint sensors and step 516 is repeated.

[0068] At operation 518, in response to detecting that the force on one or more specific joint sensors is at least equal to a pre-defined threshold, the drive controller unit is configured to un-brake the one or more specific joint sensors.

[0069] Figure 6 illustrates a block diagram of the system for breaking and un- braking a plurality of collaborative robots during power loss, in accordance with an embodiment of the present disclosure.

[0070] As shown in Figure 6, the system 102 is connected to a plurality of collaborative robots 602a, 602b...602n. The system 102 comprises the master controller unit 110 which further may include the rotatable swatch 302, the batter unit 304, the switch 306, the power management unit 308, the instruction unit 310 and the switch mode power supply (SMPS) unit 312, communi cably coupled with each other.

[0071] Further, the plurality of collaborative robots 602a, 602b...602n includes the drive controller unit 402, the joint sensor(s) 404, the one or more brakes 406 and the motor 408 are communicable coupled with each other.

[0072] In an embodiment, the power management unit 308 of the master controller unit 110 is configured to switch power to a battery unit 304 of the master controller unit 110, in response to detecting the power loss in the collaborative robot. The instruction unit 310 of the master controller unit 110 is configured to send instructions to a drive controller unit 402 of the collaborative robot to engage one or more brakes of the collaborative robot in response to the switching of the power.

[0073] In an embodiment, the master controller unit 110 is configured to initiate a tinier based on the instructions. The timer is of pre-defmed duration selected by a user. The master controller unit 110 is configured to determine whether to move the collaborative robot based on a user input, in response to initiating the tinier. The master controller unit 110 is configured to activate one or more joint sensors of the collaborative robot for un-braking based on the user input.

[0074] Figure 7 illustrates a method for un-braking a collaborative robot during power loss, in accordance with an embodiment of the present disclosure.

[0075] At step 702, the method 700 comprises switching, by a power management unit 308 of a master controller unit 110 to a battery unit 304 of the master controller unit 110, power in response to detecting the power loss in the collaborative robot. Further, in another embodiment, the switching comprises connecting the battery unit 304 of the master controller unit 110 with an external battery' via connector terminals in response to detecting the power loss in the collaborative robot.

[0076] At step 704, the method 700 comprises sending, by an instruction unit 310 of the master controller unit 110, instructions to a drive controller unit 402 of the collaborative robot 104 to engage one or more brakes of the collaborative robot 104 in response to the switching of the power.

[0077] At step 706, the method 700 comprises initiating, by the master controller unit 110, a tinier based on the instructions. The tinier is of pre-defined duration selected bv a user.

[0078] At step 708, the method 700 comprises determining, by the master controller unit 110, in response to initiating the timer, whether to move the collaborative robot 104 based on a user input.

[0079] At step 710, the method 700 comprises activating, by the master controller unit 110, one or more joint sensors of the collaborative robot 104 for un-braking based on the user input.

[0080] In an embodiment, the method 700 comprises measuring, by the drive controller unit 402, a force applied on the one or more joint sensors 404 continuously. The method 700 comprises detecting, by the drive controller 402, one or more specific joint sensors 404 on which the force is at least equal to a pre- defined threshold. Further, the method 700 comprises in response to detecting that the force on one or more specific joint sensors 404 is at least equal to a pre-defined threshold, un-braking the one or more specific joint sensors 404 by the drive controller unit 402.

[0081] In an embodiment, the method 700 comprises detecting, by the drive controller unit 402, the force applied on specific one or more joint sensors 404 is less than a pre-defined threshold. The method 700 comprises engaging, by the drive controller unit, the one or more brakes 406 on the one or more specific joint sensors 404.

[0082] Figures 8A-8B illustrate an exemplary scenario associated with un-braking a collaborative robot during power loss, in accordance with an embodiment of the present disclosure.

[0083] Figure 8A illustrates an exemplary scenario when a cobot is in position ‘A and suddenly there is a power loss. When power loss is detected, the brakes of the cobot are engaged and the cobot is frozen at that position and place. Now, as soon as the brakes of the cobot are engaged, a battery backup is activated, and a timeris initiated for user input to decide whether to move the cobot to another place say ‘B’.

[0084] When the user input is received before expiration of the timer, say rotating a knob on the master controller unit to a position indicating the cobot is to be moved during power loss or emergency condition, the joint sensors on the cobot is activated. Once activated, the joint sensors determine external force (equal to or above a threshold level) exerted on one or more joints indicating force applied by a user to push the cobot to another place ‘B’.

[0085] If the external force is equal to or above the threshold level, then the one or more joint sensors are un-braked allowing the user to move the cobot to place ‘B’ as shown in Figure 8B.

[0086] If the external force is not equal to or above the threshold level, then the brakes on one or more joint sensors remain engaged.

[0087] While specific language has been used to describe the present subject matter, any limitations arising on account thereto, are not intended. As would be apparent to a person in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein. The drawings and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment.

Claims

WE CLAIM:

1. A robotic system ( 104) com prising : a control unit (202) configured to: receive a set of first parameters corresponding to a real environment, wherein the set of first parameters includes at least one of a physical parameter associated with dimensions of the real environment, a spatial location and orientation of a workspace, and a spatial information of the workspace; receive a set of second parameters associated with an operation of a robot (108), wherein the set of second parameters includes at least one of an end-of-arm tool integrated with the robot (108), an operation instruction of the robot (108), a type of the robot (108), digital and analog signals from external devices, a motion of the robot (108), and actions of the robot (108 ); generate a virtual environment having a virtual robot (402) based on the received set of first parameters to emulate the real environment; and actuate the virtual robot to simulate the operation of the robot, wherein at least the virtual robot (402) actuates independently, or the robot (108) and the virtual robot (402) actuate in synchrony based on the simulation, and at least the virtual robot (402) actuates independently, depending on the set of second parameters or the robot (108) and the virtual robot (402) actuates, in synchrony, depending on the set of second parameters.

2. The robotic system (104) as claimed in claim 1, wherein the control unit (202) is adapted to actuate the robot (108) in the real environment in synchrony with the virtual robot (402) in the virtual environment, wherein the robot (108) is a real robot.

3. The robotic system (104) as claimed in claim 1, wherein the control unit (202) is coupled to a repository' (216) configured to store a plurality of models of the workspace.

4. The robotic system (104) as claimed in claim 1, wherein the virtual robot(402) is based on predetermined data stored in a repository (216) coupled to the control unit (202), wherein the virtual robot (402) is adapted to mimic the operation of the robot (108) in the virtual environment.

5. The robotic system (104) as claimed in claim 1, wherein the robot ( 108) is actuated in the real environment to execute operation based on the simulation of the operation of the robot (108) in the virtual environment depending on the set of first parameters and the set of second parameters.

6. The robotic system (104) as claimed in claim 1, wherein the end-of-arm tool is atached to a distal end of an arm of the robot (108), and the end-of-arm tool is adapted to assist the operation of the robot (108) in the real environment.

7. The robotic system (104) as claimed in claim 6, wherein the robot (102) is a real robot comprises: a plurality of links (302); and a plurality of joints (304) serially connected with each other with the plurality of links (302); wherein the plurality of joints (304) includes a plurality of sensors, a drive controller, and a plurality of actuators, wherein the plurality of sensors, the drive controller, and the plurality of actuators communicate a value indicative of the set of first parameters and the set of second parameters to the virtual robot (402) through the control unit (202).

8. The robotic system (104) as claimed in claim 7, wherein the real robot (108) is adapted to generate the set of first parameters and the set of second parameters by one of a static mapping and a dynamic mapping, wherein the static mapping includes defining the spatial location and orientation of the workspace of the real environment by moving an arm of the real robot(108) by a user input over the workspace, wherein the real robot (108) determines the spatial location and orientation of the workspace and communicates as one of the set of first parameters and the set of second parameters to a user equipment (102) through the control unit (202) to generate the virtual environment having the virtual robot (402); and the dynamic mapping includes defining the spatial location and orientation of the workspace having a machine-readable code, wherein the real robot (108) detects the machine readable code and communicates as the one of the set of first parameters and the set of second parameters to the user equipment (102) through the control unit (202) to form the virtual environment having the virtual robot (402).

9. The robotic system (104) as claimed in claim 1, wherein the virtual environment having the virtual robot (402) is further developed by an input provided through a user equipment (102) (UE), wherein the input is a set of third parameters including one or more of a functional block programming, cartesian co-ordinates, jog interface, defining instruction for operation of the robot (108). 10, The robotic system (104) as claimed in claim 9, wherein the virtual robot(402) is further actuated by the input provided in the UE (102).

11. The robotic system (104) as claimed in claim 10, wherein the control unit (202) receives a value associated with the actuation of the virtual robot (402) in the virtual environment based on the set of second parameters and the input and is configured to:communicate the value to the robot (108) in the real environment to actuate the robot (108) in the real environment.

12. The robotic system (108) as claimed in claim 11, wherein the user equipment (102) comprises a display unit (106) configured to display a graphical programming interface, wherein the graphical programming interface provides access to the virtual robot (402) in the virtual environment and the input simultaneously on the display unit (106).

13. A method (600) to operate the robotic system, comprises: receiving (602), by a control unit (202), a set of first parameters from a robot (108) corresponding to a real environment, wherein the set of first parameters includes at least one of a physical parameter associated with dimensions of the real environment, a spatial location and orientation of a workspace, and a spatial information of the workspace; receiving (604), by the control unit (202), a set of second parameters associated with an operation of the robot (108) in the real environment, wherein the set of second parameters includes at least one of an end-of-arm tool integrated with the robot (108), an operation instruction of the robot (108), a type of the robot (108), digital and analog signals from external devices, a motion of the robot (108), and actions of the robot (108); generating (606), by the control unit (202), a virtual environment having a virtual robot (402) based on the received set of first parameters to emulate the real environment; and actuating (608), by the control unit (202), the virtual robot (402) to simulate the robot (108), wherein at least the virtual robot (402) actuates independently, or the robot (108) and the virtual robot (402) actuates in synchrony based on the simulation, and at least the virtual robot (402) actuates independently, depending on the set of second parameters or the robot (108) and the virtual robot (402) actuates, depending on the set of second parameters.WE CLAIM:

1. A method (700) for un-braking a collaborative robot during power loss, the method comprising: switching (702), by a power management unit of a master controller unit to a battery' unit of the master controller unit, power in response to detecting the power loss in the collaborative robot; sending (704), by an instruction unit of the master controller unit, instructions to a drive controller unit of the collaborative robot to engage one or more brakes of the collaborative robot in response to the switching of the power; initiating (706), by the master controller unit, a timer based on the instructions; determining (708), by the master controller unit, in response to initiating the timer, whether to move the collaborative robot based on a user input; and activating (710), by the master controller unit, one or more joint sensors of the collaborative robot for un-braking based on the user input.

2. The method (700) as claimed in claim 1, wherein the timer is of pre-defined duration selected by a user.

3. The method (700) as claimed in claim 1, further comprising: measuring, by the drive controller unit, a force applied on the one or more joint sensors continuously ; detecting, by the drive controller, one or more specific joint sensors on which the force is at least equal to a pre-defined threshold; and in response to detecting that the force on one or more specific joint sensors is at least equal to a pre-defined threshold, un-braking the one or more specific joint sensors by the drive controller unit.

4. The method (700) as claimed in claim 1, further comprising:detecting, by the drive controller unit, the force applied on specific one or more joint sensors is less than a pre-defined threshold; and engaging, by the drive controller unit, the one or more brakes on the one or more specific joint sensors,5. The method (700) as claims in claim 1 , wherein the switching further comprises: connecting the battery unit of the master controller unit with an external battery via connector terminals in response to detecting the power loss in the collaborative robot.

6. A system (102) for un-braking a collaborative robot during power loss, the system comprising: a master controller unit (110); a power management unit (308) of the master controller unit (110) configured to switch power to a batery unit (304) of the master controller unit (110), in response to detecting the power loss in the collaborative robot (104); an instruction unit (310) of the master controller unit (110) configured to send instructions to a drive controller unit (402) of the collaborative robot (110) to engage one or more brakes (406) of the collaborative robot (110) in response to the switching of the power; wherein the master controller unit (110) is configured to: initiate a timer based on the instructions; determine whether to move the collaborative robot based(104) on a user input, in response to initiating the timer; and activate one or more joint sensors of the collaborative robot(104) for un-braking based on the user input.

7. The system (102) as claimed in claim 6, wherein the timer is of pre-defined duration selected by a user.

8. The system (102) as claimed in claim 6, wherein the drive controller unit (402) is configured to: measure a force applied on the one or more joint sensors (404) continuously; detect one or more specific joint sensors on which the force is at least equal to a pre-defined threshold; and un-brake the one or more specific joint sensors, in response to detecting that the force on one or more specific joint sensors is at least equal to a pre-defined threshold.

9. The system ( 102) as claimed in claim 6, wherein the drive controller unit (402) is configured to: detect the force applied on specific one or more joint sensors (404) is less than a pre-defined threshold; and engage the one or more brakes on the one or more specific joint sensors.

10. The system (102) as claims in claim 6, wherein to switch power, the power management unit (308) is configured to connect the battery unit (304) of the master controller unit (110) to an external battery via connector terminals, in response to detecting the power loss in the collaborative robot (104).

Images