Robot Load Inertia Visualization for Accurate Off-Line Programming
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Solution Overview
Problem
Current industrial robot control systems lack effective methods for accurately setting and verifying dynamic parameters such as mass, centroid position, and inertia of loads connected to robots, which are crucial for high-speed motion and precise locus accuracy.
Innovation Solution
An off-line programming apparatus that creates a three-dimensional model of a robot and its load, stores dynamic parameters, and generates a three-dimensional graphic representing inertia around orthogonal axes, allowing users to visually confirm and adjust these parameters for appropriate settings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If dynamic parameters are set using conventional methods, then robot control can be implemented, but the accuracy and precision of motion control deteriorates
Solution Approach 1:
The patent creates a three-dimensional virtual copy of the robot and load that mirrors the physical system. This virtual model includes replicated dynamic parameters (mass, centroid, inertia) that can be visually adjusted without affecting the physical robot directly. Users can test parameter settings in the virtual environment before applying them to the actual robot, enabling accurate parameter setting while simplifying the complexity of direct physical adjustment.
Solution Approach 2:
The patent introduces a graphic creation unit and display system as an intermediary between the user and the robot's dynamic parameters. Instead of directly modifying complex parameter tables or running trial-and-error tests on the physical robot, users interact with visual representations (three-dimensional graphics) that mediate the parameter setting process. This intermediary layer translates abstract numerical parameters into intuitive visual forms that are easier to understand and adjust accurately.
2Ease of operation
If visual representation of dynamic parameters is added, then parameter verification becomes intuitive, but system complexity increases
Solution Approach 1:
The patent employs visual graphics that represent dynamic parameters through three-dimensional displays. While the specific implementation uses spatial dimensions rather than color, the principle remains the same: transforming abstract numerical data into perceptible visual forms. The graphic creation unit generates visual representations where the size, shape, and orientation of three-dimensional objects correspond to mass, centroid position, and inertia values, making parameter verification intuitive through visual perception rather than numerical analysis.
Solution Approach 2:
The patent transforms one-dimensional numerical parameters (mass values, coordinate numbers, inertia scalars) into three-dimensional visual representations. The graphic creation unit converts abstract dynamic parameter data into spatial objects that users can visually inspect from multiple angles. This dimensional transformation allows users to comprehend complex six-degree-of-freedom inertia information and three-dimensional centroid positions through intuitive visual perception rather than interpreting numerical tables.
Data Source
AI summary
An off-line programming apparatus includes a model creation unit that creates three-dimensional models of a robot and a load, a storage unit that stores a dynamic parameter of the load, a graphic creation unit that creates a three-dimensional graphic representing the dynamic parameter based on the dynamic parameter, and a display unit that displays the three-dimensional models of the robot and the load and the three-dimensional graphic. The dynamic parameter includes inertia around three axes that are orthogonal to one another at a centroid of the load. The three-dimensional graphic is a solid defined by dimensions in three directions orthogonal to one another. The graphic creation unit sets a ratio of the dimensions in the three directions of the three-dimensional graphic to a ratio corresponding to a ratio of the inertia around the three axes.