Robot Teaching Pose Correction for Collision-Free Work Motion
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Solution Overview
Problem
Existing robot teaching devices struggle to accurately generate operations that allow robots to perform work without causing interference with surrounding structures within their movable range, particularly due to limitations in detecting and reproducing human motions accurately.
Innovation Solution
A robot teaching device that includes a teaching pose measurement unit to measure and calculate the pose of held objects, and a robot operation generation unit to generate a joint displacement sequence that ensures the robot's pose matches the teaching pose, avoiding interference by adjusting the robot's movement within its movable range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robot teaching device generates robot motion based on teacher's motion detection, then the work motion can be automatically reproduced, but the robot may cause interference with surrounding structures or exceed movable range
Solution Approach 1:
The system measures the actual robot pose during execution and feeds it back to the teaching pose measurement unit. The teaching pose is then corrected based on the difference between the measured robot pose and the originally detected teacher pose, ensuring the robot operates within its movable range without causing interference
Solution Approach 2:
The system changes the parameters of the teaching pose by applying correction values derived from actual robot pose measurements. This adjusts the target positions and orientations to be achievable within the robot's physical constraints while maintaining the essential work motion characteristics
2Measurement precision
If the robot follows the detected teacher pose exactly, then the work motion is accurately reproduced, but the robot may not be able to perform the work due to movable range limitations or interference
Solution Approach 1:
The system modifies the teaching pose parameters by adding correction values that account for the robot's movable range limitations and surrounding structure constraints, making the motion both accurate and executable
Solution Approach 2:
The system applies partial correction to the teaching pose, adjusting only the portions that exceed robot constraints while preserving the essential work motion characteristics detected from the teacher
3Device complexity
If the robot operation is generated without pose correction, then the teaching process is simple, but the robot cannot perform work without interference or movable range violation
Solution Approach 1:
The system automatically measures the actual robot pose and generates correction values without requiring manual intervention. The teaching pose is self-corrected based on the measured pose differences, maintaining simplicity while ensuring safe and interference-free operation
Solution Approach 2:
The system incorporates automatic feedback loops where the measured robot pose is continuously compared with the teaching pose, and correction values are automatically applied, eliminating the need for complex manual adjustment procedures
Data Source
AI summary
An operation is generated in which a robot can perform work without causing interference with a surrounding structure within a movable range of the robot. The robot teaching device relates to a work teaching device that teaches work to a robot that holds and moves a held object. The device includes a teaching pose measurement unit configured to measure and/or calculate a teaching pose that is a pose of the held object during teaching work, and a robot operation generation unit configured to generate a joint displacement sequence of the robot such that a pose of a held object of the same type as the held object whose teaching pose is measured becomes the same pose as the teaching pose.