Force Sensor Teaching Visualization for Robot Position Verification
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In robot systems using force sensors, it is difficult for users to confirm whether the positional information about the force sensor is correctly set, and troubleshooting incorrect operation is complex and requires expertise.
Innovation Solution
A teaching device that includes a setting information storage unit and a virtual image superimposition display unit to superimpose a virtual image of the force sensor on a real or virtual space, allowing users to visually recognize errors in the sensor's position and posture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If positional information about the force sensor is stored as internal data in the robot controller or teaching device, then the force control can operate with the stored position and posture data, but it becomes difficult for users to confirm whether the positional information is correctly set and troubleshooting becomes complex
Solution Approach 1:
The patent creates a virtual image (copy) of the force sensor that is superimposed on the real space or virtual space. This virtual copy allows users to visually verify the position and posture of the force sensor without needing to access internal data structures or perform complex troubleshooting procedures. The virtual image serves as a visual representation that can be easily compared against the actual physical setup.
Solution Approach 2:
The patent introduces a virtual image as an intermediary between the internal positional data and the user's understanding. Instead of directly displaying raw position and posture data or requiring users to interpret complex system states, the virtual image acts as a mediator that translates this information into a visually intuitive format that can be easily verified against the physical setup.
2Measurement precision
If detailed positional information is stored internally, then accurate force control is achieved, but troubleshooting requires high expertise and becomes difficult work
Solution Approach 1:
The virtual image creates a visual copy of the force sensor's positioned state, allowing users to verify accuracy without needing to interpret complex internal data. This copy makes the positional information accessible and verifiable by users with varying levels of expertise, reducing the barrier to troubleshooting.
Solution Approach 2:
The patent employs visual display techniques where the virtual image can be presented in different colors or visual states to indicate correctness or errors. This visual feedback mechanism allows users to quickly identify issues without needing deep technical expertise, as the system visually highlights problems through color or other visual cues.
3Stability of the object's composition
If positional information is kept as internal data, then the system maintains data integrity, but users cannot quickly visually recognize errors in position and posture settings
Solution Approach 1:
The virtual image serves as a real-time visual copy of the force sensor's positioned state, allowing users to instantly verify position and posture settings. This eliminates the time required to manually check internal data or perform trial-and-error troubleshooting, as errors become immediately visible through the virtual representation.
Solution Approach 2:
The system provides immediate visual feedback through the virtual image display, allowing users to see the actual position and posture of the force sensor as represented in the virtual space. This feedback loop enables quick identification and correction of errors without delaying the operation or requiring complex diagnostic procedures.
Data Source
AI summary
A teaching device is provided with: a setting information storage unit for storing setting information defining a position and an attitude of a force sensor relative to a coordinate system set in a robot; and a virtual image superimposing and displaying unit for superimposing and displaying a virtual image in a real space including the robot or a prescribed object supporting the force sensor, or in a virtual space including a model of the robot or a model of the prescribed object, in such a way that a virtual image representing the force sensor adopts a position and an attitude corresponding to the setting information in the real space or the virtual space.