METHOD FOR INSPECTING AND/OR HANDLING A COMPONENT VIA A ROBOTIC ARM, AND CORRESPONDING SYSTEM AND COMPUTER-PROGRAM PRODUCT

Described herein are solutions for inspecting and/or handling a component (20) via a robotic arm (10), wherein movement of the robotic arm (10) is managed via a controller (30). In particular, a computer (40a) is configured for showing a three-dimensional model (CM) of the component (20) in a virtual environment (42a), wherein the virtual environment (42a) makes it possible to specify one or more points of interest (CPOI). Next, the computer shows a graphic interface (42c; 42d) that makes it possible to specify a sequence of commands (CPRG) comprising a plurality of commands (CMD) for interacting with the robotic arm (10) and/or with one or more sensors (102, 12), wherein each command (CMD) comprises data that identify an action (AT) and one or more respective parameters (ARG), In particular, a command (MOVE) requests movement of the robotic arm (10) into a point of interest (CPOI1). The computer then acquires (2202) via the sensors (102, 12) one or more images (IMG) and/or a point cloud (PC) of the component (20), compares these data with the three- dimensional model (CM) of the component (20) to determine the position of the component (20) with respect to the robotic arm (10), and converts (2206) the coordinates of the point of interest (CPOI1 ) in the reference system (REF) of the virtual environment (42a) into coordinates of the reference system of the robotic arm (10) using for this purpose the position of the component (20) with respect to the robotic arm (10). Next, the computer generates (2208) a further virtual environment using the three- dimensional model (CM) of the component (20) and a model (RM) of the robotic arm, and processes each command (CMD). In the case where the command (CMD) corresponds to the command (MOVE) that requests movement of the robotic arm (10) into the point of interest (CPOI1 ), the computer selects (2210) a trajectory and evaluates the selected trajectory. In the case where the robotic arm (10) can follow the selected trajectory without colliding with the component (20), the computer generates one or more movement instructions (RPRG) for the selected trajectory and sends the one or more movement instructions (RPRG) to the controller (30).