Robot Path Teaching with 3D Geometry Error Correction
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Solution Overview
Problem
Existing teaching devices fail to account for geometric differences between virtual and real robot systems, leading to potential interference and non-optimal paths due to the use of simple geometric models for peripheral structures.
Innovation Solution
A teaching device that acquires geometric error information and corrects the robot's moving path based on actual 3D model measurements, ensuring appropriate off-line teaching data generation even with structural discrepancies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If simple geometric models are used for peripheral structures in the virtual robot system, then the construction of the virtual robot system is simplified and faster, but geometric differences occur between the virtual and real robot systems leading to potential interference and non-optimal paths
Solution Approach 1:
The patent applies preliminary action by measuring the actual peripheral structures and generating accurate 3D models before conducting off-line teaching. This allows the virtual robot system to be constructed with geometrically accurate models in advance, eliminating geometric differences before robot path generation and ensuring both ease of construction and path accuracy
Solution Approach 2:
The patent uses copying by creating accurate 3D models of actual peripheral structures through measurement. These 3D models are copies of the real structures that can be used in the virtual robot system, allowing the virtual system to accurately represent the real system without requiring simple geometric approximations
2Device complexity
If 3D models of peripheral structures are not prepared and simple geometric models are substituted, then the preparation time and complexity are reduced, but interference between the robot and structure may occur due to model geometry differences
Solution Approach 1:
The patent replaces the mechanical process of manually creating simple geometric models with an automated measurement and 3D modeling system. This substitution eliminates the need for manual model preparation while providing accurate geometric representations, thereby reducing both complexity and the risk of interference
Solution Approach 2:
The patent performs preliminary measurement and 3D model generation of peripheral structures before off-line teaching. This preliminary action ensures that accurate models are available in advance, preventing interference issues during robot operation without adding complexity to the overall system
3Measurement precision
If teaching point coordinates are shifted to correct disposed position errors, then the position accuracy is improved, but the moving path cannot be corrected to the shortest path due to model geometry differences
Solution Approach 1:
The patent uses accurate 3D models (copies of real structures) in the virtual robot system, which allows for both precise position accuracy and optimal path calculation. The accurate geometric representation enables the system to find the shortest path while maintaining position precision, unlike simple geometric models that only allow position correction
Solution Approach 2:
The patent performs preliminary measurement and 3D model generation to create an accurate virtual representation of the real system. This preliminary accurate modeling enables both position precision and path optimization to be achieved simultaneously in the off-line teaching phase
Data Source
AI summary
A teaching device constructs, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged, and teaches a moving path of the robot. The teaching device includes an acquisition unit configured to acquire information about a geometric error between the virtual 3D models, and a correction unit configured to correct the moving path of the robot in accordance with the information acquired by the acquisition unit.