Robot Programming Using Geometric Features for Non-Expert Setup
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Solution Overview
Problem
Existing methods for programming industrial robots require mathematical knowledge, particularly for defining coordinate systems and calculating matrices, making it difficult for non-experts to perform tasks like moving a robot relative to objects or boundaries without clear definitions of orientation and position.
Innovation Solution
A programmable robot allows users to define geometrical features by manually moving a point on the robot arm to various positions, registering their locations, and using these features to instruct the robot to perform tasks without needing knowledge of coordinate systems or transformation matrices, enabling the creation of a hierarchy of features for complex movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional coordinate system definition methods are used for robot programming, then the robot can perform precise movements and operations, but the programming becomes complex and requires mathematical knowledge
Solution Approach 1:
The patent introduces an intermediary coordinate system definition method that acts as a mediator between the robot's internal coordinate system and the user's intuitive spatial understanding. Instead of requiring users to directly define complex 4×4 transformation matrices, the system provides intermediate tools such as visual coordinate system indicators, pre-defined reference frames, and simplified definition procedures that translate user-friendly inputs into the required mathematical transformations, thereby resolving the contradiction between precision and ease of operation
Solution Approach 2:
The patent replaces the traditional mathematical calculation approach (mechanics of coordinate transformation) with a more intuitive method. Instead of requiring users to manually calculate and input transformation matrices, the system allows definition of coordinate systems through visual selection, geometric feature recognition, or simplified parameter input, automatically computing the underlying mathematics, thus substituting complex mechanical/mathematical operations with user-friendly interfaces
2Manufacturing precision
If detailed coordinate system definitions are required for robot programming, then movement precision is improved, but the time required for programming increases significantly
Solution Approach 1:
The patent applies preliminary action by pre-defining common coordinate systems and transformation patterns that can be reused across different programming tasks. The system provides pre-configured reference frames, standard coordinate system templates, and automatic recognition capabilities that eliminate the need to define coordinate systems from scratch for each new task, thereby reducing programming time while maintaining movement precision through consistent, pre-validated transformations
Solution Approach 2:
The patent enables copying of coordinate system definitions across different contexts. Once a coordinate system is defined or validated for a particular task, it can be replicated and reused for similar tasks, eliminating redundant definition work. The system maintains the precision of the original definition while significantly reducing the time required to set up similar coordinate systems in future programming tasks
3Measurement precision
If the robot system provides detailed coordinate system control, then operational accuracy is improved, but the system complexity increases
Solution Approach 1:
The patent segments the coordinate system control functionality into distinct, manageable layers. The system separates the complex mathematical transformation engine from the user interface, allowing detailed operational accuracy to be maintained in the background while presenting a simplified, segmented interface to users. This segmentation enables independent optimization of precision algorithms without increasing perceived system complexity
4Adaptability or versatility
If traditional programming methods requiring mathematical knowledge are used, then the robot can handle complex tasks, but the user base is limited to experts
Solution Approach 1:
The patent introduces an intermediary layer that translates between intuitive user inputs and the complex mathematical operations required for expert-level robot programming. This mediator provides automatic coordinate system generation, visual programming interfaces, and intelligent interpretation of natural language or simplified commands, enabling non-experts to access advanced task capabilities without requiring deep mathematical knowledge while maintaining the system's ability to handle complex tasks
Data Source
AI summary
The present invention relates to a user friendly method for programming a robot, where the method comprises placing the robot at a given position P0 in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot can subsequently be instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.