3D CAD Path Teaching Data from Connected Spline Curves
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Solution Overview
Problem
Conventional path teaching data creation for robots in three-dimensional CAD data is burdensome due to the need to manually designate multiple connected spline curves, which is time-consuming and inefficient.
Innovation Solution
A path teaching data creation device and method that automatically selects and connects curves based on tangent directions and angles to create a continuous path from three-dimensional CAD data, reducing user intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional CAD data with multiple connected spline curves is used for robot path teaching, then the design capability and path accuracy are improved, but the user burden and operation complexity increase significantly
Solution Approach 1:
The system enables self-service by allowing the robot to automatically select and connect spline curves based on its own position and orientation data. The robot independently determines the appropriate curve to follow without requiring manual user input for each curve selection, thereby reducing user burden while maintaining path accuracy.
Solution Approach 2:
The system implements feedback by continuously monitoring the robot's position and orientation relative to the spline curves. Based on this feedback information, the system automatically adjusts curve selection and connection decisions, enabling the robot to autonomously navigate complex three-dimensional paths with multiple connected curves.
2Ease of manufacture
If manual designation of each curve is required for path creation, then path teaching can be performed with simple CAD data, but productivity and time efficiency deteriorate
Solution Approach 1:
The system performs preliminary action by pre-calculating and storing position and orientation data for multiple spline curves before robot operation. This pre-computation enables the robot to quickly determine the correct curve to follow during operation, eliminating the need for manual curve designation and significantly improving path creation efficiency.
Solution Approach 2:
The system replaces the manual mechanical process of curve designation with an automated computational system. The robot uses its sensors and processors to automatically identify and select curves based on its current state, substituting human manual operations with automated mechanical and computational processes, thereby大幅提高 productivity.
3Loss of time
If automated curve selection is implemented, then user burden and time consumption are reduced, but the system complexity and computational requirements increase
Solution Approach 1:
The system achieves universality by designing a multi-functional automated curve selection mechanism that handles various curve types and configurations through a single integrated process. The robot's position and orientation data serve multiple purposes: determining current location, identifying candidate curves, and selecting the appropriate curve to follow, thereby reducing overall system complexity despite the automated functionality.
Data Source
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AI summary
An object is to reduce user burden. A path teaching data creation device 1 includes: a selection unit 24 configured to select, as a connection target curve, at least one further curve connected to an end point of a connection source curve that is a curve from which a connection is started, determine the selected further curve as the next connection source curve, and sequentially select a curve to be the connection target curve; and a path creation unit 25 configured to create the path teaching data based on the curves selected by the selection unit 24. When a plurality of further curves connected to the end point of the connection source curve are present, the selection unit 24 selects one of the further curves as the connection target curve based on a final tangent direction of the connection source curve and respective start tangent directions of the further curves.