Robot Teaching via 3D Coordinate Mapping for Correct Arm Posture
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Solution Overview
Problem
Existing robot teaching methods fail to accurately align the robot's posture with the desired posture due to a lack of correspondence between the three-dimensional data coordinate system and the robot's coordinate system, leading to undesirable postures and reduced movable ranges.
Innovation Solution
A teaching method that sets a first work point on the working route based on three-dimensional data and associates a correction coordinate system with the robot's coordinate system, selecting the most appropriate coordinate system from candidates to ensure proper alignment and posture correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a coordinate system is set based on three-dimensional data of the workpiece, then the working route can be generated, but the correspondence with the robot's coordinate system is not obtained, resulting in incorrect robot posture
Solution Approach 1:
The patent introduces a coordinate system association mechanism that acts as an intermediary between the workpiece coordinate system (from 3D data) and the robot coordinate system. This intermediary establishes transformation relationships and correspondence between the two coordinate systems, enabling accurate robot posture determination while working with 3D data of the workpiece.
2Productivity
If grid points are set on the workpiece surface as tool passage points, then a working route can be generated, but the robot posture may differ from the desired posture due to coordinate system mismatch
Solution Approach 1:
The patent implements a feedback mechanism where the robot's actual posture is compared with the desired posture derived from 3D workpiece data. The coordinate system association provides continuous feedback information that enables correction and adjustment of the robot's position and posture to match the desired values, ensuring both efficiency and accuracy.
Data Source
AI summary
A teaching method of teaching a position of a control point on a working route through which the control point set on a robot arm passes when the robot arm performs work and a posture of the robot arm using three-dimensional data of a working object, includes a first step of setting a predetermined first work point on the working route based on the three-dimensional data, and a second step of associating a first coordinate system set for the first work point with a second coordinate system set for the robot arm when the control point is located at the first work point, wherein, at the second step, one is selected from a plurality of candidates of the first coordinate system at the first work point, and the selected coordinate system is set as a first correction coordinate system for the first work point.