Robot Picking Simulation Using 3D Workpiece Pose Copying
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Solution Overview
Problem
Existing robot simulation techniques lack efficiency in creating accurate operation programs for robot workpiece picking-up operations, particularly when dealing with bulk workpieces in a virtual space.
Innovation Solution
A robot simulation device that arranges robot, visual sensor, and workpiece models in a virtual space, calculates the workpiece model's position and posture based on three-dimensional information acquired by the visual sensor, and executes simulations to reproduce the workpiece's state and perform picking-up operations accurately.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If workpiece models are arranged in bulk in virtual space using random positioning, then the simulation can proceed, but the accuracy of workpiece picking-up operations deteriorates
Solution Approach 1:
The patent creates virtual workpiece models that copy the actual three-dimensional position information of workpieces in the workspace. The visual sensor measures real workpiece positions, and this measurement data is transferred to the virtual space to position workpiece models accurately, rather than using random positioning. This copying approach maintains operational accuracy while enabling efficient simulation setup.
Solution Approach 2:
The patent performs preliminary measurement of workpiece positions using the visual sensor before the simulation begins. The actual positions of workpieces in the workspace are measured in advance, and this position information is used to pre-position the virtual workpiece models in the virtual space. This preliminary action eliminates the need for random positioning during simulation setup.
2Manufacturing precision
If three-dimensional position information is acquired and used to position workpiece models accurately, then picking-up operation accuracy is improved, but the device complexity increases
Solution Approach 1:
The visual sensor serves multiple functions: it measures both the actual workpiece positions in the workspace and provides data for positioning virtual workpiece models in the virtual space. The same sensor and measurement process are used for both real-world monitoring and virtual simulation setup, reducing the need for additional specialized devices and simplifying the overall system.
3Manufacturing precision
If the visual sensor measures actual workpiece positions in the workspace, then the simulation accuracy is improved, but the measurement and data processing time increases
Solution Approach 1:
The visual sensor measures workpiece positions in advance before the simulation begins. This preliminary measurement captures the actual three-dimensional positions of all workpieces in the workspace, and this data is then transferred to position the virtual workpiece models. By performing the measurement beforehand rather than continuously during simulation, the process achieves high accuracy without adding time to the simulation execution.
Data Source
AI summary
A robot simulation device includes: an arrangement unit that arranges a robot model, a visual sensor model, and a workpiece model in a virtual space; a calculation unit that, by superimposing three-dimensional position information for a workpiece, acquired by a visual sensor in a workspace and based on a robot or the visual sensor, and shape characteristics of a workpiece model, calculates a position and orientation of the workpiece model based on a robot model or a visual sensor model in the virtual space; and a simulation unit that measures the workpiece model using the visual sensor model and executes a simulation operation in which work is performed on the workpiece model by the robot model. The arrangement unit arranges, in the virtual space, the workpiece model in the position and the orientation calculated by the calculation unit and based on the robot model or the visual sensor model.