Robot Motion Teaching via Coordinate Mapping From Tool Demonstration
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Solution Overview
Problem
Current motion teaching systems for robots face challenges in efficiently teaching complex motions across different coordinate systems, leading to inaccuracies and increased complexity in calibrating and generating motion commands.
Innovation Solution
A motion teaching apparatus that includes a demonstration device and circuitry to detect the position of a demonstration tool in a second coordinate system, derive coordinate system relationship information, and generate motion commands for a robot's leading end based on this information, allowing for accurate and simplified teaching of robot motions across different coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motion teaching is performed using a dummy tool in a three-dimensional space, then the robot can be taught position and posture data, but the process becomes complex when dealing with multiple coordinate systems
Solution Approach 1:
The patent introduces a teaching motion detection device as an intermediary between the demonstration tool and the robot control system. This device automatically detects and records the position and posture of the demonstration tool in the demonstration coordinate system, eliminating the need for manual coordinate system calibration and reducing the complexity of teaching multiple coordinate systems while maintaining high measurement precision
Solution Approach 2:
The patent replaces manual mechanical calibration processes with an automated optical detection system. The teaching motion detection device uses optical fields (cameras/sensors) to automatically capture and convert demonstration tool positions into robot control commands, substituting complex mechanical coordinate alignment with automated visual measurement and computation
2Manufacturing precision
If manual calibration of coordinate systems is performed, then accuracy can be maintained, but the teaching time and productivity are reduced
Solution Approach 1:
The patent performs preliminary establishment of the demonstration coordinate system using the teaching motion detection device before actual motion teaching begins. The system pre-calculates and stores the relationship between the demonstration coordinate system and robot coordinate system, so that during actual teaching only simple demonstration movements are needed without repeated calibration, thus maintaining accuracy while improving efficiency
Solution Approach 2:
The teaching motion detection device automatically performs detection, coordinate transformation, and command generation without requiring manual intervention for calibration. The system serves itself by automatically establishing and maintaining coordinate system relationships, eliminating time-consuming manual calibration steps while preserving teaching accuracy through automated detection algorithms
Data Source
AI summary
A motion teaching apparatus includes a teaching motion detection device, a demonstration tool, and circuitry. A robot includes a leading end to move in a first coordinate system. A teaching motion detection device detects a position of the demonstration tool in a second coordinate system. The circuitry derives a relationship between the first and second coordinate system based on a position of the demonstration tool in the first coordinate system at at least one spot and based on the position of the demonstration tool in the second coordinate system at the at least one spot; obtains a transition of the position of the demonstration tool during the demonstration using the demonstration tool; and generates a motion command to control motion of the leading end of the robot based on the transition and the coordinate system relationship information.