Robot Path Control for Variable Workpiece Position and Posture
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Solution Overview
Problem
Conventional robot systems require manual setting of teaching points and recreation of air-cut paths when the work environment changes, making them unsuitable for multiproduct production with frequent task changes, as they rely on positioning and fixing the workpiece, which is cumbersome and limits flexibility.
Innovation Solution
A robot system that automatically recognizes the work environment using sensors and generates real-time paths for the robot based on predefined work requirements without relying on teaching points, allowing the robot to operate autonomously and adapt to changes in the work environment, including the position and posture of the workpiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual setting of teaching points and recreation of air-cut paths is used when work environment changes, then robot control precision is maintained, but operation time and user workload increase significantly
Solution Approach 1:
The patent replaces the mechanical/manual system of teaching point setting with an automated vision-based system. The robot controller automatically acquires workpiece position information through image processing and calculates new teaching points and air-cut paths without manual intervention, thereby maintaining precision while eliminating time loss.
Solution Approach 2:
The robot system performs self-adjustment by automatically detecting workpiece position changes and regenerating control paths independently. The controller uses vision sensors to monitor workpiece location and autonomously recalculates teaching points and air-cut paths, enabling the system to service itself without user intervention.
2Measurement precision
If manual positioning and fixing of workpieces is required, then robot control precision is ensured, but ease of operation deteriorates and flexibility is reduced
Solution Approach 1:
The patent replaces mechanical positioning and fixing operations with a vision-based detection system. The robot controller uses image processing to automatically identify workpiece positions and orientations, eliminating the need for manual positioning and fixing while maintaining control precision through automated coordinate calculation.
Solution Approach 2:
The system creates a digital representation of the workpiece position and orientation through image capture and processing. This optical copy of the physical workpiece state is then used to calculate control parameters, replacing the need for physical positioning and fixing operations.
3Measurement precision
If teaching points and air-cut paths are recreated manually when work environment changes, then robot control precision is maintained, but adaptability to frequent task changes deteriorates
Solution Approach 1:
The patent implements a dynamic system that automatically adapts to work environment changes. The robot controller continuously monitors workpiece position through vision sensors and dynamically regenerating teaching points and air-cut paths in real-time, enabling the system to adapt to frequent task changes while maintaining precision through automated calculations.
Solution Approach 2:
The system establishes a feedback loop where the vision sensor continuously detects workpiece position, the controller compares this information with the current control parameters, and automatically adjusts teaching points and air-cut paths accordingly. This closed-loop feedback mechanism enables rapid adaptation to environmental changes while maintaining control precision.
Data Source
AI summary
A robot system includes a storage device configured to store a predefined work requirement that indicates a processing target region of a workpiece to be processed by a robot, and circuitry configured to recognize an environment of a working space in which the workpiece is placed, as a work environment. The work environment includes a position and a posture of the workpiece placed in the working space. The circuitry is further configured to identify the processing target region of the workpiece placed in the working space, based on the position and posture of the workpiece placed in the working space. The circuitry is further configured to generate, in real-time, a path of the robot to operate on the identified processing target region based on the work requirement and the identified processing target region; and control the robot based on the generated path.