Method for controlling a robotised system and related robotised system

Abstract

A method for controlling a robotised system (1) for the treatment of an article (M) comprising: a consultation step, subsequent to an inspection step and preceding a processing step, during which the robotised system (1) queries a database (12) comprising a plurality of compilations ((13)) of a program for processing the article; wherein each compilation (13) comprises a compiled program (CP); wherein the consultation step comprises a comparison sub-step, during which it is verified whether there is, within the database (12), one of the compilations (13) of said program associated with a position / orientation similar to the actual position / orientation (AP) of the article; wherein, if said similar compilation (13) exists, the respective compiled program (CP) corresponding to said similar compilation (13) is executed during the step of processing the article (M).

Description

[0001] "METHOD FOR CONTROLLING A ROBOTISED SYSTEM AND RELATED ROBOTISED SYSTEM"

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Application No. 102024000021172 filed on September 23, 2024, the entire disclosure of which is incorporated herein by reference.

[0004] Technical Field

[0005] The present invention relates to a method for controlling a robotised system, in particular comprising a manipulator robot, and to a related robotised system.

[0006] The present invention finds advantageous, but not exclusive, application in the field of ceramics, more in particular of glazing or surface finishing (preferably by abrasion) the surfaces of ceramic articles, to which the description below will expressly refer, without loss of generality.

[0007] Background Art

[0008] In the ceramic article processing field, the use is known of robotised devices supporting spraying heads, to paint and / or glaze the surfaces and / or, preferably, supporting tools equipped with an abrasive portion for surface finishing of the surfaces.

[0009] This type of approach, also used in other fields such as welding, positioning, etc., has a high versatility and efficacy and has led to an increase in production speed and improvements of the repeatability and precision of the industrial process.

[0010] In recent years, robots are becoming key elements in increasing competitivity in the manufacturing sector.

[0011] Nonetheless, the widespread use of robotic technologies in small and medium enterprises is still hindered by some well known factors, among which the intrinsically complex and lengthy nature of programming the robots undoubtedly plays a crucial role .

[0012] Conventional methods for programming robots typically consist in the use of the teach-pendant of the robot or in simulating the task of the robot within an off-line programming environment. In the first case, during the whole of the time required for programming the machine is idle, with a significant impact on the productivity of the robot. On the other hand, the off-line (OLP) approach allows the programmer to develop at least a first draft of the complete program without having to stop the robot, thereby limiting machine downtime to the time required for final validation of the program.

[0013] Regardless of the specific approaches, OLP is almost unanimously considered the most efficient solution to the problem of programming the robot.

[0014] However, in the case, for example, of glazing or surface finishing of ceramic articles, the article to be processed might not always be in the same position. In fact, this depends on the method of supplying and positioning the article, which is usually placed on a plane and therefore has three variables, two Cartesian coordinates (on the plane) and one angular coordinate (namely, the rotation that the article can carry out on the same plane) .

[0015] Therefore, in general a certain variability of positioning / orientation of the ceramic article to be processed can occur. This means that a given program designed to perform a motion profile combined with specific actions (valve opening and closing, increase and decrease of the glaze jet, thrust etc. ) for a given position of the article, may not be suitable (especially in the case of contact processes, such as surface finishing) or in any case optimisable for positions of the article that differ, albeit by a few millimetres or degrees, relative to the nominal position for which the program was created .

[0016] To overcome these problems, systems have been developed that add the offset between the nominal position and the current position of the article on the work platform to the motion profile programmed for the nominal / ideal position of the article.

[0017] Although with these solutions it is possible to avoid particularly high downtimes of the robotised system, they nonetheless expose the system to high risks of downtime, as merely adding the offset to the predefined motion profile does not take into account possible problems of reachability, singularity or collisions with other elements in the work space of the robot.

[0018] Consequently, there is the need to produce a control method that allows minimisation of downtimes relative to the prior art solutions .

[0019] The object of the present invention is to provide a method for controlling a robotised system, in particular of an industrial manipulator and a related processing plant, which allows the drawbacks of the prior art to be overcome, at least partly, and which at the same time are easy and inexpensive to produce.

[0020] Summary

[0021] According to the present invention, there are provided a method for controlling a robotised system, in particular comprising a manipulator robot, and a related robotised system according to the appended independent claims and, preferably, any one of the claims depending directly or indirectly on the independent claims .

[0022] The claims describe preferred embodiments of the present invention forming an integral part of the present description. In the present text, the term "torque" is meant as "moment of a force" or in any case another quantity containinq (more precisely, a function of) the moment of a force. "Moment of a force" (or "mechanical moment") has its common meaning of aptitude of a force to impart a rotation on a rigid body about a point (in the plane) or an axis (in space) when this is not applied to its centre of mass.

[0023] In the present text, "force" is also meant (besides the meaning normally given to this term) as another quantity containing (more precisely a function of) force. According to some embodiments, "force" is meant as force according to its normal meaning .

[0024] Brief Description of the Figures

[0025] The invention is described below with reference to the accompanying drawings, which illustrated some non-limiting embodiments thereof, wherein:

[0026] Fig. 1 is a perspective view with parts removed for clarity of a robotised system in accordance with the present invention;

[0027] Fig. 2 is a schematic diagram illustrating a possible modelling of a robotised system in accordance with the present invention;

[0028] Fig. 3 schematically illustrates a perspective view of a three-dimensional modelling of a database of programs already recompiled by the system of Figs. 1 and 2.

[0029] Detailed Description

[0030] In accordance with a first aspect of the present invention, in Fig. 1, the reference number 1 indicates as a whole a robotised system, in particular but without limitation for the treatment of an article M, preferably but without limitation a ceramic article .

[0031] The robotised system 1 comprises an end effector 2, which is configured to process or interact with an article being produced (for example the article M) .

[0032] In the non-limiting embodiment of Fig. 1, the end effector 2 is a spraying head 3, which is configured to emit a jet of a substance for coating at least one part of the surface of the article M (in particular ceramic) . In other non-limiting embodiments, not illustrated, the end effector 2 is a surface finishing tool, which is configured carry out an abrasion finishing of at least one part of the surface of the article; alternatively, the end effector 2 is a welding head, a gripping head, a gripper or any other processing tool.

[0033] The end effector 2 is configured to process the article M by executing a program configured to have the end effector 2 perform one or more actions going through a plurality of through points TP defining a motion profile P.

[0034] Advantageously, the robotised system 1 comprises a manipulator robot 4, which is movable with at least three (in particular at least four, more in particular six) degrees of freedom and on which the end effector (for example the spraying head 3 or a surface finishing tool) is mounted.

[0035] In particular, the manipulator robot 4 comprises a plurality of motorised joints J connected to one another in series through (substantially rigid) mechanical links L. Preferably, the joints J are rotary joints of known type and therefore are not described in greater detail. Each link L can rotate relative to the previous one about a respective axis of rotation A. The rotation about each of the axes A represents a degree of freedom of the manipulator robot 4. In the embodiment illustrated, the manipulator robot 4 has six degrees of freedom and, more precisely, has six axes A of rotation.

[0036] In particular, the manipulator robot 4 is an anthropomorphic robot .

[0037] The robotised system 1 comprises an inspection system 5, which is configured to detect an actual position / orientation AP of an article M to be processed. In particular, the actual position / orientation AP is defined by actual values X' , Y' , 0' of a set of coordinates X, Y, 0. In particular, the actual position / orientation AP is defined relative to a predefined reference system, for example inertial or integral with the manipulator robot 4.

[0038] Advantageously, but without limitation, the inspection system 5 comprises a device 6, which can be a camera 7, or other devices of known type, such as (movable) lasers or photocells, that unequivocally identify the actual position AP of the article M in space based on characteristic elements of the article, such as one or more corners or sides.

[0039] Preferably, but without limitation, the actual position AP derived from the detections of the inspection system 5 correspond to the centre of mass of the article M (in particular to the centre of mass of the profile of the article detected as image by the camera 7) .

[0040] Alternatively, for example, the actual position AP can coincide with a point located on an axis of symmetry of the base supporting the article on the platform 9.

[0041] The article M is placed in a work space WS, which comprises a station 8 comprising a platform 9 on which the article M to be processed is supported. In particular, a position in the work space WS is definable through three axes X, Y, Z and respective rotations about these axes (Euler angles) to describe the orientation of the article M in the work space WS .

[0042] The robotised system 1 further comprises a control system 10, which comprises a storage unit 11 and is configured to control the movement / actions of the manipulator robot 4 at least so as to move the end effector 2 (for example the spraying head 3) in the working space WS . In particular, the control system 10 is also configured to regulate the operation of a tool mounted on the end effector 2 (for example, a spraying head 3, a welding head, etc . ) .

[0043] Advantageously, the storage unit 11 is configured to store a database 12 comprising a plurality of compilations 13 of the aforesaid program (each) processed as a function of one or more prior and / or predefined positions / orientations PP of the (same) article M, which are each defined by respective values X*, Y* , 0* of the set of coordinates X, Y, 0 (space and / or rotary) . In other words, the compilations 13 relate to different prior and / or predefined positions / orientations PP of a same article M.

[0044] In particular, each compilation 13 is associated with a respective (and unique) prior and / or predefined position / orientation PP of the article M.

[0045] More in particular, each compilation 13 comprises a compiled program CP, in particular executable by the robotised system 1 (in detail by the manipulator robot 4 and by the end effector 2) , in which the through points TP are calculated as a function of the respective values X*, Y* , 0* of the set of coordinates X, Y, 0 that identify the respective prior and / or predefined position / orientation PP of the article M.

[0046] The term "compiled program CP" or "compilation", is meant, as recognised in the industry with this terminology, as a program that is the result of the translation of the source code (written in a high-level programming language) in machine code, which can be executed directly by a processor, for example by the control system 10. The control system 10 is configured to consult the database 12 and to verify, in use (namely after loading of a new article M to be processed onto the platform 9) , whether there is, within the database 12, one of the compilations 13 of said program that was processed as a function of a prior and / or predefined position / orientation PP similar to the actual position / orientation AP, namely it is verified that, for each coordinate X, Y, 0 of the set of coordinates the difference (X*, Y* , 0* - X' , Y' , 0' ) between the prior and / or predefined position / orientation PP and the actual position / orientation AP is smaller than a respective threshold value |TV(X, Y, 0) | (settable) , in particular different from zero.

[0047] If this similar compilation exists within the database 12, the manipulator robot 4 and the end effector 2 are configured to execute the respective compiled program CP corresponding to said similar compilation 13 for processing of the article M.

[0048] The manipulator robot 4 e typically an anthropomorphic robot of industrial type. The manipulator robot 4 can also have more than six degrees of freedom (in particular, more than six axes A of rotation) . In some non-limiting cases, the degrees of freedom can be five axes of rotation and one translation (for example, horizontal or vertical) .

[0049] Therefore, in particular, the control system 10 is designed to control the movement of the manipulator robot 3 as a function of the movement stored by the storage unit 11 in the form of compiled (executable) programs CP. In this way, it is possible to avoid recalculating for each new article M to be processed, all the through points TP and the related motion profile P. At the same time, it is possible to avoid the occurrence of parameterization errors linked to the structure of the manipulator robot 4 or of the work space WS (for example, problems of reachability, singularity or obstacles) . In particular, in the present text the term "movement" or "movements" is meant as a path and the speed along the path. More precisely, the movement of the manipulator robot 3 is the movement in space of each moving part of the manipulator robot 5 in space.

[0050] Advantageously, the robotised system 1 is configured to carry out the method described below.

[0051] In accordance with a second aspect of the present invention, there is provided a method for controlling a robotised system for the treatment of an article M, which performs the same functions and comprises the same components as the robotised system 1 described within the scope of the first aspect of the present invention. More precisely, the robotised system 1 is like the one described in accordance with the first aspect of the present invention.

[0052] The method comprises an inspection step, during which the inspection system 5 detects (or determines) the actual position / orientation AP of the article M to be processed (defined by the actual values X' , Y' , 0' ) .

[0053] Moreover, the method comprises a processing step, during which the robotised system 1 processes the article M by executing the program configured to have the end effector 2 perform one or more actions (for example regulation of the flow rate of the jet, opening or closing of a valve, regulation of a pressure that determines the thrust and / or the rotation of the abrasive finishing tool, etc. ) going through the plurality of through points TP defining the motion profile P.

[0054] Advantageously, the method further comprises a consultation step, subsequent to the inspection step and prior to the processing step, during which the robotised system 1 queries the database 12 comprising the plurality of compilations 13 of said program, each processed as a function of at least one prior and / or predefined position / orientation PP of the article M. In particular, the at least one position / orientation PP is each defined by the respective values X*, Y* , 0* of the set of space and / or rotary coordinates X, Y, 0. As indicated above, each compilation 13 comprises (is) a CP compiled program, in particular executable by the robotised system 1, in which the through points TP are calculated as a function of the respective values X*, Y* , 0* of the set of coordinates X, Y, 0 that identify the respective prior or predefined position / orientation PP of the article M.

[0055] Advantageously, the consultation step comprises a comparison sub-step, during which it is verified whether there is, within the database 12, a compilation 13* among the compilations 13 of said program that has been processed as a function of a prior and / or predefined position / orientation PP similar to the actual position / orientation AP, namely that for each coordinate X, Y, 0 of the set of coordinates the difference (X*, Y* , 0* - X' , Y' , 0' ) between the prior and / or predefined position / orientation PP and the actual position / orientation AP is smaller than a respective threshold value |TV(X) , TV(Y) , TV(0) | different from zero (settable and predefined as a function of the processing and of the article to be processed) . In other words, if the deviation between the actual position / orientation AP and one of the prior or predefined positions / orientations PP is smaller than a given threshold, then it is directly executed, avoiding lengthy downtimes to recompile the program, the compiled program CP corresponding to the position PP having the deviation from AP within a predefined area (indicated by the circle around the position / orientation AP in Fig. 3) .

[0056] As mentioned previously, if this similar compilation exists, the respective compiled program CP corresponding to said similar compilation 13* is executed during the step of processing the article M. Preferably, instead, if said similar compilation 13* does not exist, a new compilation 13' is executed, recalculating the through points TP and defining a new compiled program CP as a function of the actual position / orientation AP of the article M to be processed.

[0057] Advantageously, but without limitation, the new compilation 13' is stored in the database 12, updating it, in particular enriching it (namely adding the new compilation 13' without eliminating the previous one) .

[0058] In the non-limiting embodiment of Fig. 3, the cases in which a similar position PP is present or is not present within the neighbourhood of the position / orientation AP are both illustrated. In the first case (on the right of Fig. 3) the compilation 13* will be used directly to perform the processing step. In the second case, a new compilation 13 will be carried out, which will be executed subsequently during the processing step and stored in the database 12.

[0059] According to some preferred but non-limiting embodiments, a most probable position / orientation MP is defined as a function of the prior positions / orientations PP (for example through a weighted average or a median or a mode) . In particular, for each new compilation 13' stored, one of the prior compilations 13, preferably the one most distant from the previously defined most probable position / orientation MP or the least frequent among the prior positions / orientations PP, is deleted.

[0060] Alternatively, according to other preferred but non-limiting embodiments, a least probable position / orientation is defined as a function of the prior positions / orientations PP (for example, through a weighted average or a median or a mode) . In particular, for each new compilation 13' stored, one of the prior compilations 13 is eliminated, preferably the one closest to the previously defined least probable position / orientation, which can also correspond to the least frequent among the prior positions / orientations PP.

[0061] Preferably, the inspection, consultation and processing steps are cyclically repeated for each new article M to be processed. In this way, it will be possible to optimise the times based on the actual position / orientation AP of each article M.

[0062] In some preferred non-limiting cases, the set of coordinates X, Y, 0 comprises (at least) one pair of space coordinates X, Y, thus defining a work plane WP on which the article M can be placed. In other words, the work plane WP is delimited by the platform 9 and comprises all the possible positions of the centre of mass of the article M to be processed.

[0063] In particular, the respective threshold value TV (X) , TV (Y) for the at least two space coordinates is different from zero.

[0064] Preferably, the respective threshold value TV (X) , TV(Y) for the at least two space coordinates is equal to or smaller than 50 mm, in particular equal to or smaller than 30 mm, preferably equal to or smaller than 10 mm, more in particular equal to or smaller than 5 mm, in detail equal to or smaller than 2.5 mm.

[0065] Advantageously, but not necessarily, the set of coordinates X, Y, 0 further comprises at least one rotary coordinate 0, which identifies an orientation of the article lying on said work plane. In other words, the angle 0 indicates, preferably in degrees, the amplitude of the rotation of the article M about the vertical axis Z, namely, its orientation on the work plane WP.

[0066] In particular, the respective threshold value TV(0) for the at least one rotary coordinate is different from zero. Preferably, the respective threshold value TV(0) for the at least one rotary coordinate is equal to or smaller than 10°, preferably equal to or smaller than 5°, in particular equal to or smaller than 2°, more in particular equal to or smaller than 1°, in detail equal to or smaller than 0.5° .

[0067] Advantageously, but without limitation, the method further comprises a formation step (performed offline just once) , prior to the inspection step, during which the database 12 is filled with compilations 13 relating to predefined positions / orientations PP of the article, which are at a distance D from one another that is, for each of the coordinates X, Y, 0, greater than the respective threshold value TV (X) , TV (Y) , TV ( 0 ) .

[0068] In some non-limiting cases, the formation step is preferably executed using a history of prior positions / orientations PP occurring on robotised systems with the same structure or on the same robotised system 1, in the case of program updating. In these cases, the compilations 13 are re-executed as a function of the new program and of the prior positions / orientations PP .

[0069] According to some preferred non-limiting embodiments, such as illustrated in Fig. 3, during the formation step, the predefined positions / orientations PP are equally spaced apart (namely at the same distance D) from one another on each coordinate X, Y, 0 of said set of coordinates, thus forming a grid 14. Within this grid, the distance D can be equal, for example, to 5 mm (or 2 mm, or 1 mm) for the coordinates X and Y and to 2° (or 1°, or 0,5°) for the coordinate 0.

[0070] According to other non-limiting embodiments, not illustrated, the predefined positions / orientations PP are manually defined empirically or theoretically and can thus define a grid 14 whose points are not equally spaced apart on the respective axes. Advantageously, but without limitation, each compilation 13 comprises, within the compiled program CP, verification instructions regarding problems of reachability and / or the presence of singularities and / or collisions along the motion profile P by the robotised system 1, in particular the end effector 2. In this way, it is possible to warn in advance, before starting the processing step, whether there will be possible problems in the movement of the manipulator robot 4 that will lead to downtime of the robotised system 1.

[0071] In some non-limiting preferred cases, as illustrated in Figs. 2 and 3, the plurality of compilations 13 can be graphically displayed to an operator, highlighting, by means of colours or symbols, for each compilation 13, the result of said verification and any errors that have occurred (for example with predefined colours for problems of reachability, collision or singularity) .

[0072] According to a further aspect of the present invention, there is also provided a computer program comprising instructions which, during execution of the program, cause the program to carry out the method described previously.

[0073] In use, the robotised system 1 detects, through the inspection system, the position AP (X' , Y' , 0' ) of the article and consults the database 12 to verify the possible presence of a compilation 13 comprising a program CP already compiled based on a position PP (X*, Y*, 0*) that is similar to the position AP, namely in which the following conditions are met:

[0074] |X*-X' |<TV(X)

[0075] |Y*-Y' |<TV(Y)

[0076] |0*-0' |<TV(0)

[0077] In the case in which all three of the above conditions are met, the position AP is considered similar to the corresponding position PP and therefore the program CP associated with the position PP is executed to carry out the processing step. In the case in which at least one of the three above conditions is not met, recompilation of the program takes place, recalculating the through points TP and verifying any problems of reachability, singularity or collision within the work space WS, obtaining a new compilation 13 that is then executed during the processing step. This recompilation 13 is preferably stored in the database 12 and the position AP becomes one of the positions PP that can be similar to the next position AP of the next article to be produced.

[0078] Although the invention described above refers in particular to a specific example of embodiment, it must not be considered limited to this example of embodiment, with all variations, modifications or simplifications covered by the appended claims, such as a different geometry of the manipulator robot 5, a different type of end effector, a different choice of the coordinates (even if worse than the three coordinates X, Y, 9) , etc., falling within its scope.

[0079] The robotised system and the method described above offer numerous advantages .

[0080] Firstly, dynamic recompilation of the processing program based on the actual position of the ceramic article (which can often differ from the position desired) makes it possible to prevent the occurrence of any problems of reachability, singularity and / or collision during execution of the programs, namely processing of the articles. However, this feature has the contraindication that recompilation for each article can require a time such as to penalise the performance of the robotised system in general and of the production plant.

[0081] This problem is solved by the present invention due to consultation and optional formation of the database comprising a plurality of programs already compiled as a function of different possible positions of the article M (namely, several compilations 13 for a same type of article M) , permitting a new compilation only if no compiled programs based on similar positions to the current position of the article are present.

[0082] In this way, it is possible to greatly reduce downtimes.

[0083] Additionally, it is thus possible to help the enterprise to reach a greater production flexibility to cope more easily with rapidly evolving products.

Claims

CLAIMS1. A method for controlling a robotised system (1) for the treatment of an article (M) ; the method comprising:- an inspection step, during which an inspection system (5) detects an actual position / orientation (AP) of an article (M) to be processed; wherein the actual position / orientation (AP) is defined by actual values of a set of coordinates relative to a predefined reference system;- a processing step, during which the robotised system (1) processes the article (M) by executing a program configured to have an end effector (2) of the robotised system (1) perform one or more actions going through a plurality of through points (TP) defining a motion profile (P) ; the method being characterized in that it further comprises:- a consultation step, which is subsequent to the inspection step and prior to the processing step and during which the robotised system (1) queries a database (12) comprising a plurality of compilations (13) of said program, each processed as a function of at least one prior and / or predefined position / orientation of the article (M) , defined by respective values of the set of coordinates; wherein each compilation (13) comprises a compiled program (CP) , in particular executable by the robotised system (1) , in which the through points (TP) are calculated as a function of the respective values of the set of coordinates that identify the respective prior or predefined position / orientation (PP) of the article (M) ; wherein the consultation step comprises a comparison sub-step, during which it is verified whether there is, within the database (12) , one of the compilations (13) of said program that was compiled as a function of a prior and / or predefined position / orientation similar to the actual position / orientation (AP) , namely it is verified that, for each coordinate of the set of coordinates, the difference between the prior and / or predefined position / orientation and the actual position / orientation (AP) is smaller than a respective thresholdvalue (TV) ; wherein, if said similar compilation (13) exists, the respective compiled program (CP) corresponding to said similar compilation (13) is executed during the step of processing the article (M) .

2. The method according to claim 1, wherein, if said similar compilation (13) does not exist, a new compilation (13) is executed, recalculating the through points (TP) and defining a new compiled program (CP) as a function of the actual position / orientation (AP) .

3. The method according to claim 2, wherein the new compilation (13' ) is stored in the database (12) , thus updating it, in particular enriching it, namely adding the new compilation (13' ) to the database (12) .

4. The method according to claim 2 or 3, wherein a most probable position / orientation is defined as a function of the prior positions / orientations ; wherein, for each new compilation (13) stored, one of the prior compilations (13) , in particular the one most distant from the most probable position / orientation, is deleted.

5. The method according to any one of the preceding claims, wherein the inspection, consultation and processing steps are cyclically repeated for each new article (M) to be processed.

6. The method according to any one of the preceding claims, wherein the set of coordinates comprises at least one pair of space coordinates, thus defining a work plane (WP) , on which the article (M) can be placed.

7. The method according to claim 6, wherein the respective threshold value (TV) for said at least two space coordinates is equal to or smaller than 50 mm, in particular equal to or smaller than 30 mm, more in particular equal to or smaller than 10 mm.

8. The method according to claim 6 or 7, wherein the set of coordinates further comprises at least one rotary coordinate, which identifies an orientation of the article (M) lying on said work plane (WP) .

9. The method according to claim 8, wherein the respective threshold value (TV) for said at least one rotary coordinate is equal to or smaller than 10°, in particular equal to or smaller than 5° mm, more in particular equal to or smaller than 2° .

10. The method according to any one of the preceding claims and comprising a formation step, during which the database (12) is filled with compilations (13) relating to predefined positions / orientations of the article (M) , which are at a distance from one another that is, for each one of the coordinates of said set of coordinates, equal to or greater than the respective threshold value (TV) .

11. The method according to claim 10, wherein, during the formation step, the predefined positions / orientations are equally spaced apart from one another on each coordinate of said set of coordinates, thus forming a grid (14) .

12. The method according to any one of the preceding claims, wherein each compilation (13) comprises, within the compiled program (CP) , verification instructions regarding reachability problems and / or the presence of singularities and / or collisions along the motion profile (P) by the robotised system (1) .

13. The method according to claim 12, wherein said plurality of compilations (13) can graphically be displayed to an operator, highlighting, by means of colours or symbols, for each compilation (13) , the result of said verification.

14. A computer program comprising instructions which, duringthe execution of the program, cause the program to carry out the method according to any one of the claims from 1 to 13.

15. A robotised system (1) for the treatment of an article (M) ; the robotised system (1) comprising: an end effector (2) , which is configured to process the article (M) by executing a program configured to have the end effector (2) perform one or more actions going through a plurality of through points (TP) defining a motion profile (P) ; a manipulator robot (4) , which is movable with at least three degrees of freedom and on which the end effector (2) is mounted; the manipulator robot (4) comprising a plurality of joints (J) connected to one another through link (L) ; an inspection system (5) , which is configured to detect an actual position / orientation (AP) of an article (M) to be processed; wherein the actual position / orientation (AP) is defined by actual values of a set of coordinates relative to a predefined reference system; a control system (10) , which comprises a storage unit (11) and is configured to control the movement of the manipulator robot (4) at least so as to move the end effector (2) in the space; wherein the storage unit (11) is configured to store a database (12) comprising a plurality of compilations (13) of said program processed as a function of at least one prior and / or predefined position / orientation of the article (M) , defined by respective values of the set of coordinates; wherein each compilation (13) comprises a compiled program (CP) , in particular executable by the robotised system (1) , in which the through points (TP) are calculated as a function of the respective values of the set of coordinates that identify the respective prior or predefined position / orientation (PP) of the article (M) ; wherein the control system (10) is configured to consult said database ( 12 ) ; wherein the control system (10) is configured to verify, in use, whether there is, within the database (12) , one of the compilations (13) of said program that was processed as afunction of a prior and / or predefined position / orientation similar to the actual position / orientation (AP) , namely to verify that, for each coordinate of the set of coordinates, the difference between the prior and / or predefined position / orientation and the actual position / orientation (AP) is smaller than a respective threshold value (TV) ; wherein, if said similar compilation (13) exists, the manipulator robot (4) and the end effector (2) are configured to execute the respective compiled program (CP) corresponding to said similar compilation (13) for the processing of the article (M) ; the robotised system (1) being configured so as to carry out the method according to any one of the preceding claims.

16. The robotised system (1) according to claim 15, wherein the end effector (2) is a spraying head (3) , configured to emit a jet of a substance for covering at least part of the surface of the article (M) , or a surface finishing tool, which is configured to carry out an abrasion finishing on at least part of the surface of the article (M) , which is a ceramic article (M) .

17. The robotised system (1) according to claim 15 or 16, wherein the manipulator robot (4) is an anthropomorphic robot, in particular with six degrees of freedom.

Images