Robot Teaching Input Coordinate Rotation for Intuitive Arm Control
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Solution Overview
Problem
Current robot control systems face challenges in efficiently generating and executing motion commands for multi-articular arms, particularly in accurately translating operator inputs into precise movements of the robot's leading end, due to limitations in coordinate system management and sensor integration.
Innovation Solution
The system incorporates an operation device with posture sensors and processing circuitry that detects the posture of the operation input device in a first coordinate system, rotates a second coordinate system relative to the first, and generates motion commands for the robot's leading end, converting these commands into a format usable by the robot while regulating the second coordinate system's rotation, enabling precise control of the multi-articular arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a fixed coordinate system is used for robot control, then the control system is simple to implement, but the operator input accuracy and intuitiveness deteriorate when the operation device posture changes
Solution Approach 1:
The patent implements a dynamic coordinate system that automatically rotates and adapts to match the operation device's posture. The coordinate system transformation unit continuously calculates and applies rotation transformations based on sensor data, allowing the coordinate system to dynamically adjust rather than remain fixed, thereby maintaining input accuracy regardless of device orientation
Solution Approach 2:
The patent incorporates posture sensors (accelerometers, gyroscopes) that provide real-time feedback about the operation device's orientation. This feedback is processed by the coordinate system transformation unit, which uses the sensed posture information to automatically adjust and rotate the coordinate system, creating a closed-loop system that maintains accuracy without requiring manual intervention
2Ease of operation
If the coordinate system rotates freely to match operation device posture, then operator input intuitiveness improves, but control precision and stability deteriorate due to excessive rotation freedom
Solution Approach 1:
The patent applies different rotation constraints to different axes of the coordinate system. Specifically, it allows rotation about the axis perpendicular to the operation screen (enabling intuitive 2D control), while constraining or regulating rotation about other axes (maintaining control precision). This selective application of rotation freedom to specific local directions resolves the contradiction between intuitiveness and precision
Solution Approach 2:
The patent dynamically adjusts the rotation parameters of the coordinate system based on the operation device's posture. By calculating optimal rotation angles and applying transformation matrices, the system changes the coordinate system's orientation parameters to match the device while maintaining controlled precision through regulated rotation about specific axes
3Measurement precision
If posture sensors and coordinate system transformation are implemented, then operator input accuracy improves, but device complexity and computational load increase
Solution Approach 1:
The patent integrates multiple functions into the control unit: posture sensing, coordinate system transformation, motion command generation, and robot control all occur within a single integrated unit. This multi-functionality reduces overall system complexity by eliminating the need for separate dedicated components for each function, while still achieving high measurement precision through the integrated sensor and processing system
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enhances the manipulability of robot teaching processes by intuitively correlating movement directions and scalar quantities with positional relationships, minimizing discrepancies between intended and actual inputs, and providing operators with a more adaptive and intuitive control interface.
Implementation Method 1
a device posture sensor that detects a posture of the operation input circuitry in a first coordinate system
Data Source
AI summary
An operation device includes operation input circuitry that operates a robot having a leading end and a multi-articular arm that changes a position and a posture of the leading end, a device posture sensor that detects a posture of the operation input circuitry in a first coordinate system for controlling the robot, and processing circuitry that rotates a second coordinate system rotatable relative to the first coordinate system based on the posture of the operation input device, generates motion command for the leading end of the robot in the second coordinate system based on input operation into the operation input circuitry, converts the motion command into a first-coordinate-system motion command for the leading end of the robot in the first coordinate system, outputs the first-coordinate-system motion command for controlling the robot based on the first-coordinate-system motion command, and regulates rotation of the second coordinate system about at least one axis.