Passive Pointer Robot Teaching With On-Board Camera Tracking
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Solution Overview
Problem
Current robot programming methods, particularly for collaborative robots (cobots), are time-consuming, lack precision, and are costly due to the use of active pointers and fixed camera configurations, which restrict the usable workspace and require external sensors for accurate pose calculation.
Innovation Solution
A passive pointing device with a pattern of markers and an on-board camera allows for high-precision robot programming by tracking the pointer using a computational vision algorithm, eliminating the need for external sensors and enabling larger teaching workspaces without the use of electronic communication systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a teach pendant or kinesthetic teaching is used for programming collaborative robots, then the robot can be positioned in pre-defined poses, but the programming process becomes extremely time-consuming
Solution Approach 1:
The patent replaces manual mechanical positioning (teach pendant or kinesthetic teaching) with an optical tracking system. A passive pointer with markers is tracked by a camera system that automatically calculates pose information, eliminating the need for manual robot manipulation and dramatically reducing programming time while maintaining precision
Solution Approach 2:
The patent uses a passive optical pointer that creates a visual representation of the desired pose. The camera system captures images of this pointer and computationally determines pose information, effectively copying the operator's intended position and orientation without requiring physical robot movement to each pose
2Measurement precision
If active pointers with electronic communication systems are used, then pose calculation can be performed, but costs increase
Solution Approach 1:
The patent employs a passive pointer with simple printed markers instead of expensive active pointers with electronics. The passive pointer can be as simple as a printed pattern on a card or surface, eliminating the need for batteries, processors, or communication modules while maintaining sufficient measurement precision through optical recognition
Solution Approach 2:
The patent replaces electronic communication systems with an optical vision system. Instead of the pointer actively transmitting electronic data about its position, the system uses passive optical markers that are imaged and processed computationally to determine pose, eliminating complex electronics and reducing costs
3Device complexity
If fixed camera configurations are used for tracking, then the system structure is simplified, but the usable workspace is restricted
Solution Approach 1:
The patent makes the camera system dynamic by mounting it on the robot arm itself rather than using fixed external cameras. This allows the camera to move with the robot and maintain optimal viewing angles throughout the workspace, expanding the usable workspace while keeping the overall system relatively simple
Solution Approach 2:
The patent combines the camera system with the robot arm structure, integrating the sensing capability into the manipulator itself. This merging allows the camera to access positions and angles that would be difficult or impossible for fixed external cameras, thereby expanding workspace coverage without adding separate complex external sensor systems
4Measurement precision
If external sensors are used for accurate pose calculation, then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent replaces external physical sensors with an optical vision system. Instead of using external cameras, lasers, or other sensing devices positioned around the workspace, the system uses standard imaging technology to capture marker patterns and computationally derive precise pose information, simplifying the hardware architecture
Solution Approach 2:
The robot arm with integrated camera performs its own pose measurement and tracking without requiring separate external sensing systems. The system uses its own visual capabilities to determine its position and orientation, eliminating the need for complex external sensor infrastructure
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 solution provides fast, intuitive, and precise robot programming by leveraging the intrinsic repeatability of the robot, reducing errors and costs, and allowing for flexible workspace utilization without the limitations of traditional systems.
Implementation Method 1
tracking the pointer using a computational vision algorithm
Data Source
AI summary
The present invention relates to an apparatus for programming robots based on a novel passive pointing device including fiducial markers which enables interaction with one or more cameras through a computer implemented method. By taking advantage of a camera integral to the robot. the computer implemented method and the pointing device enable a tracking mechanism that during robot programming makes possible to change the position of the robot in real time in order to maintain substantially constant the relative pose between the on-board camera and the pointing device. In this way, the human operator can advantageously set the poses of the robot tool by means of demonstration i.e., by placing the pointer in the desired position and orientation during execution of the computer implemented method. With respect to known systems, larger working-space and higher precision, adjustable according to needs, are thus achieved. The apparatus may include a passive pointer and a camera mounted on the robot's wrist.