Jog Coordinate System Control for Robot Manual Operation
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Solution Overview
Problem
Existing robot control systems face inefficiencies when switching between different jog coordinate systems during manual operation, requiring operators to manually set new coordinate systems, which decreases operation efficiency.
Innovation Solution
A robot control device with a display unit showing a three-dimensional image of the jog coordinate system and input unit allowing operators to easily change the direction of the jog coordinate system relative to the robot, enabling quick switching between coordinate systems by operating the image on a touch panel display.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the operator manually sets a new jog coordinate system by inputting coordinate values or point positions, then the robot can be controlled in the desired coordinate system, but the operation efficiency deteriorates due to the time required for setting
Solution Approach 1:
The system performs preliminary actions by automatically calculating and setting the jog coordinate system based on the robot's current position and orientation. The control device pre-computes the coordinate transformation parameters without requiring manual input, so when the operator needs a new coordinate system, it is already prepared and ready for use.
Solution Approach 2:
The system serves itself by automatically generating the jog coordinate system settings based on the robot's own state information. The control device uses the robot's current position and orientation data to self-determine the appropriate coordinate system parameters, eliminating the need for operator intervention in the setting process.
2Adaptability or versatility
If multiple jog coordinate systems are stored in advance, then switching between them is possible, but the system cannot accommodate coordinate systems that are not pre-stored
Solution Approach 1:
The system transitions from a static, pre-stored coordinate system approach to a dynamic, on-demand generation approach. The jog coordinate system is no longer fixed in advance but is dynamically calculated based on the robot's real-time position and orientation, allowing the system to adapt to any coordinate system requirement without pre-storing multiple configurations.
Solution Approach 2:
The system changes the parameters of the jog coordinate system dynamically based on the robot's state. Instead of using fixed, pre-defined coordinate systems, the control device continuously updates the coordinate system parameters (position and orientation) according to the robot's current configuration, enabling flexible adaptation to different operational requirements.
Data Source
AI summary
A robot control device is provided with a display unit for displaying a three-dimensional image of a jog coordinate system and a robot, and an input unit including keys corresponding to coordinate axes of the jog coordinate system. The input unit is formed so that an operator operates an image on the display unit. A display control unit changes the image so that the direction of the jog coordinate system is fixed while the direction of the robot changes in accordance with the operation of the operator in the input unit. When the operator pushes the key, a manual control unit changes the position and orientation of the robot based on the direction of the jog coordinate system with respect to the robot in the image.