Motion Learning System for Robotic Programming
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Solution Overview
Problem
Existing motion capture robotic programming systems are not fully satisfactory for users without industrial robotics knowledge, as they require complex programming and do not ensure compatibility with robotic devices' degrees of freedom and workspace parameters.
Innovation Solution
A motion learning system that includes a workspace storage module, pointer modules for user-driven trajectory capture, a post-processing module for ensuring trajectory compatibility, and a program generation module to create executable programs, along with visualization and simulation tools to aid in programming and alert users to incompatibilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a motion capture robotic programming system is used to allow users without robotic knowledge to program robotic systems, then the ease of operation is improved, but the device complexity increases due to the need for workspace storage modules, trajectory capture modules, post-processing modules, and program generation modules
Solution Approach 1:
The patent introduces a motion capture robotic programming system that acts as an intermediary between the user and the robotic device. The system includes a workspace storage module for storing workspace parameters, a trajectory capture module for capturing pointer movements, a post-processing module for generating compatible trajectories, and a program generation module for creating executable programs. This intermediary system translates simple user pointer movements into complex robotic commands, improving ease of operation while managing device complexity through modular architecture
Solution Approach 2:
The patent replaces traditional mechanical programming interfaces with a motion capture-based system. Instead of requiring users to program robotic movements through complex mechanical controls or coding, the system captures the trajectory of a pointer moved by the user in virtual or augmented reality environments. This substitution of mechanical programming with motion capture technology simplifies the user interface while maintaining precise control over robotic device operations
2Ease of operation
If the learning device is the robotic device itself as described in US 2019/0086907, then the programming process is simplified, but the reliability decreases because the solution is not completely satisfactory and does not ensure compatibility with robotic device constraints
Solution Approach 1:
The patent applies preliminary action by storing workspace parameters and robotic device constraints in the workspace storage module before the trajectory capture process begins. The post-processing module then uses these pre-stored constraints to generate trajectories that are guaranteed to be compatible with the robotic device's degrees of freedom and workspace limitations. This preliminary preparation ensures reliability while maintaining programming simplicity
Solution Approach 2:
The system implements feedback through the post-processing module, which takes the captured pointer trajectory and processes it to generate a compatible trajectory for the robotic device. The module ensures that the generated trajectory respects the robotic device's constraints by using feedback from the stored workspace parameters and device capabilities. This feedback mechanism guarantees trajectory compatibility while maintaining ease of operation
3Manufacturing precision
If the post-processing module determines compatible trajectories from captured pointer trajectories, then the manufacturing precision is improved by ensuring trajectory compatibility, but the loss of time increases due to the additional processing step
Solution Approach 1:
The workspace storage module stores robotic device constraints, degrees of freedom, and workspace parameters in advance, before the trajectory capture process. This preliminary preparation allows the post-processing module to quickly generate compatible trajectories by referencing pre-stored information, reducing the time penalty associated with ensuring trajectory compatibility
Solution Approach 2:
The system creates a virtual copy of the robotic device's workspace and constraints in the motion capture environment. The pointer trajectory is captured in this virtual model, and the post-processing module generates the actual robotic trajectory by transforming the captured data. This copying approach allows for rapid iteration and adjustment without affecting the physical robotic device, reducing overall programming time while maintaining precision
Data Source
AI summary
The invention relates to a system which comprises a workspace (3) storage module (5), at least one pointer (6) respectively associated with a gripper (4) of a robotic device (2), a module (8) for capturing the trajectory performed by the at least one pointer (6), a post-processing module (10) for determining a compatible trajectory of the one or more grippers (4), and a saving module (11), configured to save the compatible trajectory of each of the robotic devices (2).