Robot Path Correction Using Intermediate Teaching Points
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Solution Overview
Problem
Existing methods for generating operation programs for robots fail to effectively avoid near-misses with peripheral objects by not adequately ensuring a consistent minimum clearance, leading to potential interference.
Innovation Solution
An automatic program-correction device and method that detects near-miss sections, identifies closest points, and generates a new operation program with intermediate teaching points along a straight line passing through these points, gradually increasing clearance to ensure it exceeds the threshold, thereby preventing new near-misses.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an existing operation program is used without correction, then the robot can execute motions quickly, but near-misses with peripheral objects occur due to insufficient clearance
Solution Approach 1:
The system performs preliminary detection of near-miss sections and calculation of intermediate teaching points before executing the robot motion. By pre-processing the operation program to identify clearance issues and generate correction points, the system ensures reliable clearance maintenance while enabling smooth execution without real-time delays
Solution Approach 2:
Intermediate teaching points are introduced as intermediary elements between existing motion points. These intermediate points act as mediators that gradually guide the robot through paths with adequate clearance, transforming the original problematic trajectory into a safe path without requiring complete program rewriting
2Reliability
If the clearance threshold is strictly enforced, then near-misses are prevented, but the robot motion becomes overly conservative and loses efficiency
Solution Approach 1:
The system applies clearance constraints locally only in detected near-miss sections rather than uniformly across the entire motion path. By identifying specific problematic areas and generating intermediate teaching points only where needed, the system maintains strict clearance enforcement where necessary while preserving efficient motion in safe areas
Solution Approach 2:
The system introduces intermediate teaching points partially, only in sections where near-misses are detected, rather than applying clearance constraints to the entire path. This partial action approach prevents over-constraining the motion, maintaining efficiency in areas that don't require correction
3Reliability
If intermediate teaching points are added to increase clearance, then near-miss sections are resolved, but the operation program becomes more complex
Solution Approach 1:
The operation program is segmented into distinct sections: original motion points, detected near-miss sections, and inserted intermediate teaching points. This segmentation allows the system to maintain the original program structure where possible while locally inserting only the necessary corrective elements, minimizing overall program complexity
Data Source
AI summary
An automatic program-correction device includes: a clearance detecting unit that detects an amount of clearance between a robot and a peripheral device in an operation program; a near-miss detecting unit that detects a near-miss section; a closest-point detecting unit that detects a pair of closest points, in the near-miss section; and a program updating unit that generates a new operation program having an intermediate teaching point to which the closest points have been moved, along a straight line passing through the detected pair of closest points, until the amount of clearance becomes greater than a minimum amount of clearance and equal to or less than the threshold. While gradually reducing, from the threshold, the amount of clearance at the intermediate teaching point, the program updating unit obtains an intermediate teaching point that provides a maximum amount of clearance at which a new near-miss section is not detected.