Robot Path Visualization for Precise Target Setting and Calibration
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Solution Overview
Problem
Existing robot systems face challenges in accurately performing processes on objects due to the lack of effective methods for setting process target positions and calibrating imaging apparatuses, which affects the precision of movement paths and object handling.
Innovation Solution
A computing apparatus that generates display signals for a display apparatus to visualize movement trajectories and calibrate imaging apparatuses, using three-dimensional models of end effectors and surrounding objects to set process target positions and generate precise movement paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robot is driven without moving the robot body to perform a process on an object, then the positioning precision of the end effector is improved, but the movement trajectory calculation becomes more complex
Solution Approach 1:
The patent introduces a virtual movement point (movement simulation point) that moves in a virtual space to represent the actual movement of the end effector. This dimensional transformation allows the system to calculate trajectories in a simplified virtual coordinate system while achieving precise positioning in the physical space, resolving the contradiction between positioning precision and calculation complexity.
2Adaptability or versatility
If an imaging apparatus is attached to the robot to capture object information, then the adaptability of the robot system is improved, but the calibration accuracy becomes more difficult to achieve
Solution Approach 1:
The patent introduces a marker as an intermediary object that facilitates the calibration process between the imaging apparatus and the robot coordinate system. The marker provides known geometric features that the imaging apparatus can detect, enabling accurate determination of the imaging apparatus's position and orientation relative to the robot, thus achieving high calibration accuracy while maintaining system adaptability.
3Manufacturing precision
If a three-dimensional model of the end effector is used to generate movement paths, then the manufacturing precision of the process is improved, but the device complexity increases
Solution Approach 1:
The patent creates a three-dimensional virtual model (copy) of the end effector and the movement trajectory in virtual space. This virtual copy allows for precise trajectory planning and collision detection without requiring complex physical modifications. The virtual model can be easily adjusted and regenerated, maintaining manufacturing precision while reducing the complexity of physical device modifications.
4Reliability
If the robot system performs presetting to ensure proper operation, then the reliability of the process is improved, but the setup time increases
Solution Approach 1:
The patent performs preliminary calibration of the imaging apparatus and creates three-dimensional models of the end effector and workspace before actual robot operation. This preliminary setup establishes the coordinate system transformations and movement trajectories in advance, ensuring process reliability while minimizing setup time through one-time calibration rather than repeated adjustments.
Data Source
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AI summary
A computing apparatus includes: a signal generation unit that generates a display signal for displaying, on a display apparatus, a movement trajectory of a movement point moving due to a driving of a robot in a case where the robot is driven, without moving the robot; and an output unit that outputs the display signal generated by the signal generation unit to the display apparatus.