Robot Gripping Pose Setup Using Auxiliary 2D Views
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Solution Overview
Problem
Existing techniques struggle to accurately determine the gripping position of a robot hand relative to a gripping target, requiring time-consuming adjustments to achieve precision within 1 mm or less.
Innovation Solution
A setting assisting apparatus and method that includes a pose calculator and an auxiliary view generator to calculate and render an auxiliary view on a screen, allowing users to efficiently set an accurate gripping pose of a robot hand relative to a gripping target.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional 3D display techniques are used to show gripping target and robot hand, then the system is simple to implement, but the positional relationship cannot be determined accurately and gripping position adjustment requires repeated trials
Solution Approach 1:
The patent introduces an auxiliary view that displays a 2D projection of the 3D spatial relationship between the robot hand and gripping target. This auxiliary view provides precise positional information (distance and angle) that cannot be easily determined from the main 3D view alone, enabling accurate gripping position setting without repeated adjustments.
Solution Approach 2:
The auxiliary view acts as an intermediary representation that translates complex 3D positional relationships into easily interpretable 2D visual information. By displaying projected positions and providing distance/angle indices, it mediates between the 3D model and the user's understanding, allowing precise gripping position determination.
2Measurement precision
If the auxiliary view is updated in real-time according to robot hand pose changes, then gripping pose can be set accurately, but the computational load and system complexity increase
Solution Approach 1:
The auxiliary view is pre-configured with the appropriate projection direction and scale based on the gripping target's geometry before the gripping operation begins. This preliminary setup eliminates the need for complex real-time calculations during the actual gripping task, reducing system complexity while maintaining accuracy.
Solution Approach 2:
The auxiliary view creates a simplified 2D copy of the 3D spatial relationship between the robot hand and gripping target. This copy contains all necessary positional information in an easily interpretable format, allowing accurate gripping pose determination without requiring the system to process full 3D geometric data in real-time.
Data Source
AI summary
A technique allows efficient registration of an accurate gripping position of a robot hand with an auxiliary view appearing on a screen in accordance with the robot hand. A user selects a hand type to be used in gripping a gripping target and designates an auxiliary view to be rendered in accordance with the hand. In response to a two-finger hand being selected (step S11), a plane (step S13), a cylinder (step S14), or a rectangular prism (step S15) is rendered based on the view designated by the user (step S12). In response to a suction hand being selected, a plane is rendered (step S16).