Robot Arm Teaching Support for Start-Point Attitude Selection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot control devices struggle to properly set the angle of rotation of a robot arm at teaching points along a movement trajectory, especially when the attitude of the robot arm at the movement start point is not appropriate.
Innovation Solution
A teaching support method and device that acquire the movement of a robot arm with at least one joint and its start point, calculate multiple candidates for the robot arm's attitude at the start point, calculate the state of joint rotation for each candidate, and report the results to optimize the robot arm's attitude during the movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the robot control device corrects the angle of rotation based on the attitude of the robot arm at the movement start point, then the control process is simplified, but the accuracy of setting the angle of rotation at teaching points deteriorates when the start point attitude is not appropriate
Solution Approach 1:
The system performs preliminary calculation of multiple candidate attitudes at the movement start point before executing the actual movement. By pre-calculating possible attitudes and evaluating their outcomes, the system identifies the most appropriate start point attitude that enables accurate angle correction at teaching points, thus resolving the contradiction between simplified control and accurate positioning.
Solution Approach 2:
The system changes the parameter of robot arm attitude at the movement start point by calculating multiple candidate attitudes with different orientation values. This parameter variation allows the system to select the optimal start point attitude that ensures accurate angle of rotation setting at subsequent teaching points, overcoming the limitation of fixed start point attitude.
2Manufacturing precision
If multiple candidates for robot arm attitude are calculated and evaluated, then the accuracy of angle of rotation setting is improved, but the calculation time and processing complexity increase
Solution Approach 1:
The system calculates multiple candidate attitudes (excessive action) to ensure accurate angle setting, but applies pruning strategies to eliminate obviously inferior candidates early in the evaluation process. This partial evaluation approach maintains high accuracy while reducing the total computation time by not fully processing all possible candidates.
Solution Approach 2:
The system uses the calculated candidate attitudes to automatically evaluate and select the optimal movement path without requiring external intervention or repeated trial-and-error adjustments. The self-evaluation mechanism reduces overall processing time by making the selection process autonomous and efficient.
Data Source
AI summary
A teaching support method includes: acquiring a movement of a robot arm having at least one joint, and a movement start point where the movement starts; calculating a plurality of candidates for an attitude of the robot arm at the movement start point that is acquired; calculating a state of rotation of the joint as of when the robot arm is moved according to the movement from the movement start point, for each of the plurality of candidates that are calculated; and reporting a result of calculation.