Operator-Centric Robot Control via Visual Simulacrum
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Solution Overview
Problem
Current industrial robot control systems require operators to understand complex geometric coordinate frames, making it difficult for new operators to intuitively program robot motions, and existing methods are inefficient and pose safety concerns.
Innovation Solution
A method using a touch screen to generate a simulacra of the robot, determining its 3D position relative to a robot-centric frame, and creating an operator-centric frame that aligns with the operator's view, allowing intuitive motion commands that are transformed for actual robot movement, utilizing a compass sensor for orientation and position sensing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robot coordinate frames (axis, robot, TCP, user frames) are used for control, then the robot can be precisely controlled according to geometric specifications, but the operator interface becomes complex and difficult for new operators to understand
Solution Approach 1:
The patent creates a visual simulacrum (copy) of the robot displayed on the touch screen that mirrors the physical robot's position and orientation. This visual copy allows operators to interact with an intuitive graphical representation rather than abstract coordinate frames, while the system maintains precise geometric control through coordinate transformations between the visual frame and robot-centric frames
Solution Approach 2:
The patent introduces an operator-centric visual coordinate frame as an intermediary between the operator and the robot-centric coordinate frames. This intermediate frame of reference, displayed through the simulacrum, translates complex geometric coordinates into intuitive visual directions (up, down, left, right, forward, backward) while maintaining precise control through mathematical transformations
2Manufacturing precision
If operators manually program robot motions using traditional methods, then precise control is achievable, but the programming process becomes time-consuming and inefficient
Solution Approach 1:
The patent replaces manual mechanical programming operations with automated sensor-based position sensing and visual interface interactions. The compass sensor automatically detects the robot's position and orientation, eliminating the need for operators to manually calculate and input coordinate values, while the touch screen provides intuitive visual control for programming motions
Solution Approach 2:
The system performs self-sensing of the robot's position and orientation using the integrated compass sensor. The simulacrum automatically updates to reflect the robot's current state, and coordinate transformations are performed automatically by the system rather than requiring manual intervention, significantly reducing programming time while maintaining precision
3Ease of operation
If traditional teach pendant methods are used for robot control, then the robot can be programmed through manual positioning, but safety concerns arise and the process requires deep understanding of coordinate geometry
Solution Approach 1:
The patent replaces manual mechanical positioning methods with automated sensor-based detection. The compass sensor automatically determines the robot's position and orientation relative to the operator, eliminating the need for operators to manually move or position components, thereby reducing safety risks while improving accessibility
Solution Approach 2:
The visual simulacrum provides a safe virtual environment for programming and testing robot motions before executing them on the physical robot. Operators can program and verify motions visually without direct physical interaction, reducing safety concerns while making the system more accessible to operators regardless of their coordinate geometry expertise
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach simplifies robot programming by using intuitive motion directions relative to the operator's view, reducing the need to understand geometric frames and enhancing efficiency and safety by automating orientation and position sensing.
Implementation Method 1
sense a 3D current position of the controller relative to the first frame of reference
Data Source
AI summary
A method and apparatus for controlling an industrial robot relative to an intuitive motion coordinate system. The current 3D position of a touch-screen teach pendant relative to the robot is sensed, and an operator-centric frame of reference is developed relative to the robot-centric frame of reference. A simulacra of the robot is generated, oriented so as to correspond with an operator view of the robot from the current position of the controller, and displayed on the pendant. A motion-control construction, generated and displayed on the pendant, is adapted to receive jog commands from the operator indicative of a respective incremental movement of the simulacra in the operator-centric frame of reference. Each jog command is transformed from the operator-centric frame of reference to the robot-centric frame of reference, and the robot moved in accordance with the transformed jog command. Movement of the pendant relative to the robot is sensed and, in response, the displayed simulacra is reoriented to correspond to the new position of the pendant relative to the robot as viewed by the operator.