Robot Work Position Shifting Based on Movement Direction
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Solution Overview
Problem
There is a need to determine an appropriate shift direction for a robot's working position from a work target portion to improve work quality or avoid interference with environmental objects, while considering the robot's movement direction.
Innovation Solution
A control device that acquires the work target position, determines a shift direction orthogonal to the robot's movement direction, and positions the robot at a target position shifted by a predetermined amount, using a reference position acquisition section, direction determination section, and robot control section.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot positions itself exactly at the work target portion, then work precision is maximized, but interference with environmental objects or degradation of work quality may occur
Solution Approach 1:
The control device calculates and determines the shift direction before the robot executes the work motion. By pre-determining the optimal working position that avoids interference, the system proactively prevents harmful effects rather than reacting to them during operation.
Solution Approach 2:
The control device acts as an intermediary between the robot and the work target portion. It introduces a shift direction calculation that mediates the direct positioning, finding an optimal intermediate position that maintains work precision while avoiding interference with environmental objects.
2Object-affected harmful factors
If the robot shifts the working position from the work target portion to avoid interference, then interference is reduced, but work precision may deteriorate
Solution Approach 1:
The system changes the positional parameters by calculating a shift direction and shift amount based on the robot's movement direction and environmental constraints. This parameter adjustment optimizes the working position to balance interference avoidance with maintaining adequate work precision.
3Device complexity
If the shift direction is determined without considering the robot's movement direction, then the determination process is simplified, but the shift direction may not be appropriate for the current work context
Solution Approach 1:
The control device uses the robot's movement direction as feedback to dynamically determine the shift direction. By incorporating real-time movement information into the shift direction calculation, the system adapts to the current work context while maintaining a relatively simple determination process based on vector operations.
Data Source
AI summary
A control device for moving a robot and causing the robot to perform a work onto a work target portion includes a reference position acquisition section that acquires a position of the work target portion as a reference position, based on detection data of a sensor that detects the work target portion, a movement direction acquisition section that acquires a movement direction of the robot, a direction determination section that determines a shift direction in which a working position of the robot onto the work target portion is to be shifted from the reference position, based on the movement direction acquired by the movement direction acquisition section, and a robot control section that positions the robot at a target position shifted from the reference position toward the shift direction by a predetermined shift amount, when carrying out the work onto the work target portion.