Robot Grasp Teaching Using Vision-Based Hand-Workpiece Alignment
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Solution Overview
Problem
Current robot systems face challenges in accurately teaching the position and orientation at which a robot hand grips a workpiece, requiring high precision and reliable methods for effective operation.
Innovation Solution
A device and method that utilize image data from a vision sensor to acquire and process workpiece and hand position data, calculating the positional relationship between the hand and workpiece in a control coordinate system, allowing for precise teaching of gripping positions and orientations by a processor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If image data is used to teach robot gripping position, then measurement precision is improved, but device complexity increases
Solution Approach 1:
A vision sensor is introduced as an intermediary device to capture image data of the workpiece and hand position. The sensor system includes a camera and lighting apparatus that mediates between the physical gripping operation and the digital teaching data, enabling precise measurement without direct complex mechanical measurement systems.
Solution Approach 2:
The patent replaces traditional mechanical teaching methods with vision-based optical measurement. Instead of using complex mechanical measurement devices or manual teaching, the system uses image processing to detect workpiece features and calculate gripping positions, substituting mechanical systems with optical and computational approaches.
2Manufacturing precision
If vision sensor is used for position detection, then manufacturing precision is improved, but loss of time increases
Solution Approach 1:
The system performs preliminary actions by capturing multiple image data points before final teaching. The vision sensor takes multiple images from different angles or at different moments, and the teaching position is calculated based on this pre-collected data, allowing for more accurate measurement without repeating the process multiple times.
Solution Approach 2:
The vision sensor continuously captures image data during the teaching process, and the system continuously processes this data to calculate teaching positions. This continuous action eliminates idle time between measurement and processing, maintaining productive workflow throughout the teaching operation.
Data Source
AI summary
A device includes: an image data acquisition unit that acquires, when a robot is grasping a workpiece by a hand, image data of the workpiece imaged by a visual sensor disposed at a known position on a control coordinate system; a workpiece position acquisition unit that acquires workpiece position data indicating a position and a posture of the workpiece on the basis of the image data; a hand position acquisition position that acquires hand position data indicating a position and a posture of the hand obtained when the visual sensor has imaged the image data; and a teaching position acquisition unit that acquires, on the basis of the workpiece position data and the hand position data, teaching position data indicating a positional relationship between the hand and the workpiece obtained when the visual sensor has imaged the image data.