Robot Arm Camera Offset Control for Teaching-Free Repositioning
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Solution Overview
Problem
In multi-joint robot systems where multiple robots cooperate, changing the camera's attachment position requires significant operator effort due to changes in the positional relationship between the robot and camera, necessitating repetitive teaching processes.
Innovation Solution
The robot system memorizes offset information for each camera attachment position and uses this information to adjust the arm's position, allowing the camera to be moved to the correct imaging position without requiring operator teaching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the camera attachment position is changed to avoid interference with other robots, then the imaging capability is maintained, but the positional relationship between the robot and camera changes requiring repetitive teaching
Solution Approach 1:
The system pre-stores offset information between the robot coordinate system and camera coordinate system for multiple possible attachment positions. When the camera is attached, the control device automatically retrieves and applies the corresponding offset information, eliminating the need for operator teaching and enabling immediate use of imaging functions.
Solution Approach 2:
The system changes the parameter set (offset information) based on the camera attachment position. By storing different offset parameters for different attachment locations and automatically selecting the appropriate set, the system adapts to position changes without requiring re-teaching, thus resolving the contradiction between position flexibility and operational simplicity.
2Adaptability or versatility
If the camera attachment position is changed, then the imaging range changes to suit different work requirements, but significant operator effort is required due to changes in positional relationship
Solution Approach 1:
Offset information for multiple camera attachment positions is pre-calculated and stored in the control device before actual operation. When the camera is attached at any position, the system automatically retrieves the corresponding pre-stored offset information and applies it, eliminating the time-consuming teaching process and enabling immediate imaging operations.
Solution Approach 2:
The system uses pre-stored offset information (a form of data copy) corresponding to different camera attachment positions. Instead of performing time-consuming teaching operations, the control device retrieves and applies the appropriate offset data copy, significantly reducing setup time while maintaining adaptability to different imaging requirements.
3Productivity
If multiple multi-joint robots cooperate to perform predetermined operations, then production capability is improved, but the camera must be repositioned to avoid interference which requires repetitive teaching
Solution Approach 1:
The control device pre-stores offset information for multiple camera attachment positions that are suitable for collaborative multi-robot operations. When deploying multiple robots, the operator simply attaches the camera to the appropriate position, and the system automatically applies the corresponding offset information, eliminating repetitive teaching and simplifying setup while maintaining high productivity.
Solution Approach 2:
The system creates a universal solution that works for multiple robot configurations and collaborative scenarios. By storing offset information for various attachment positions and automatically selecting the appropriate one, the system provides a multi-functional capability that supports different multi-robot collaborative arrangements without requiring separate teaching procedures for each configuration.
Data Source
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AI summary
The robot system for which the position of a camera attached to the arm is changeable to multiple positions. The robot system memorizes offset information between the arm and the camera for each of multiple positions. Further, the robot system moves the arm to the position offset by the offset information corresponding to the attachment position of the selected camera. As a result, even when the mounting position of the camera is changed, the robot system can move the camera to an appropriate position when imaging and perform imaging without requiring troublesome teaching.