Robot End-Effector Motion Data Correction for Tolerance Compliance
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Solution Overview
Problem
Existing robot systems face challenges in generating specifying data that accurately instructs the end effector to perform motions within predetermined tolerances, leading to potential damage or inefficiency, especially when handling complex or time-sensitive targets.
Innovation Solution
A specifying data generating apparatus that acquires manual data, converts and coarse-grains it, interpolates to high resolution, and corrects for tolerance exceedances, using quaternion representation to reduce processing loads and prevent motion deviations, thereby ensuring the end effector operates within safe parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robot systems generate specifying data to instruct end effector motions, then the robot can perform automated operations, but the end effector may exceed predetermined motion tolerances causing damage or inefficiency
Solution Approach 1:
The system performs preliminary actions by acquiring manual data from teaching points, converting it to specifying data, and correcting the data before robot execution to prevent tolerance violations. The correction process identifies periods where motions would exceed tolerances and adjusts the specifying data in advance, ensuring reliable operation without exceeding motion limits during actual robot execution.
2Productivity
If the robot operates with high speed and precision, then productivity increases, but the complexity of generating accurate specifying data increases
Solution Approach 1:
The system uses manual teaching data as a template or copy of desired motions, then processes this copied data through conversion and correction steps to generate final specifying data. This approach simplifies the generation process by starting from actual manual demonstrations rather than programming complex motion paths from scratch, reducing the complexity of specifying data generation while maintaining high precision.
3Adaptability or versatility
If the robot handles complex or time-sensitive target objects, then the applicability expands, but the risk of target deterioration increases
Solution Approach 1:
The correction unit implements feedback by comparing generated specifying data against predetermined motion tolerances and adjusting the data when violations are detected. This feedback mechanism ensures that even when handling complex or time-sensitive targets, the robot motions remain within safe parameters, preventing target deterioration while maintaining versatility in handling different target types.
Data Source
AI summary
A specifying data generating apparatus configured to generate specifying data for causing a robot to reproduce a motion of a target object including a generating unit configured to generate, based on manual data indicative of a motion of a target object manually operated, specifying data for specifying, in association with a time, a position and a posture of an end effector of a robot configured to imitate the motion of the target object, and a correcting unit configured, when a period during which a motion of the end effector operated according to the specifying data generated by the generating unit deviates from a predetermined tolerance has occurred, to correct, through extension in a time direction, the specifying data of at least the period during which there is the deviation from the tolerance.