Robot Path Correction Using Optical Reference Markings
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Solution Overview
Problem
Existing robot path creation methods, particularly for tasks like welding and cutting, require high expertise and multiple correction loops due to kinematic and dynamic limitations, leading to inaccuracies in following desired paths and maintaining constant speed.
Innovation Solution
A method and robot controller that detect a reference path marking, modify path points and speed/acceleration based on this marking, and generate additional points to improve path fidelity and reduce speed fluctuations, using contactless detection means like optical sensors and adaptable reference markings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual teaching method is used to program robot paths, then path creation can be performed with simple equipment, but path accuracy and speed consistency deteriorate due to kinematic and dynamic limitations
Solution Approach 1:
The patent replaces manual mechanical teaching operations with an optical measurement system. A measurement device with optical sensors detects reference markings on the workpiece to automatically determine path points, substituting the mechanical manual teaching process with an optical measurement and calculation system that computes corrected path points based on detected positions and robot kinematics.
Solution Approach 2:
The system enables the robot to self-correct its path by automatically processing measurement data. The control device calculates corrected path points using the detected reference marking positions and robot kinematic parameters, allowing the robot to autonomously compensate for its own kinematic and dynamic limitations without requiring manual intervention for each correction.
2Manufacturing precision
If multiple correction loops are implemented to improve path accuracy, then path fidelity improves, but operating time and complexity increase
Solution Approach 1:
The patent performs path correction in advance by measuring reference markings before robot execution and pre-calculating all corrected path points. The control device computes the entire corrected path trajectory beforehand based on detected reference positions and robot kinematics, eliminating the need for multiple iterative correction loops during actual robot operation.
Solution Approach 2:
The system uses feedback from optical measurement of reference markings to correct the robot path. The measurement device detects actual reference marking positions, the control device compares these with expected positions, and automatically calculates corrected path points that compensate for deviations, creating a closed-loop correction system that eliminates manual trial-and-error adjustments.
3Manufacturing precision
If high expertise is required for path creation, then path accuracy can be achieved, but ease of operation deteriorates
Solution Approach 1:
The patent replaces expert manual teaching operations with an automated optical measurement and calculation system. The measurement device automatically detects reference markings and the control device automatically calculates corrected path points using robot kinematics, substituting the need for expert manual path creation with an automated system that requires minimal operator skill.
Solution Approach 2:
The system enables automatic path creation that serves itself by processing measurement data and calculating corrections without expert intervention. The control device automatically computes corrected path points based on detected reference markings and robot parameters, allowing operators without specialized path creation expertise to achieve accurate robot paths through simple operation of the automated system.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach simplifies and accelerates the creation of precise robot paths, reducing deviations and improving path accuracy, allowing for automated optimization and reduced expertise requirements in operating personnel.
Implementation Method 1
the reference path marking is detected contactlessly, in particular electromagnetically, in particular optically, by means of a detection means
Data Source
AI summary
The invention relates to a method for creating a path (B) of a robot (1) comprising the following steps: sensing (S30 - S60) a reference path marking (3; 3'); and modifying (S30, S50) at least one specified path point (P10, P20) and/or one specified path velocity and/or path acceleration of the robot path and/or generating (S50) at least one path point (P15) on the basis of the sensed reference path marking.