Adapting Robot Programming via End Effector Parameters
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Solution Overview
Problem
Current robot programming systems lack the ability to adapt effectively to different end effectors, leading to inefficient task definition and control, as they do not account for the specific parameters and capabilities of various end effectors, resulting in restricted programming options and potential errors.
Innovation Solution
The system adapts graphical user interface output and control commands based on received parameters of the end effector, such as action parameters, physical properties, and interaction object parameters, allowing for dynamic selection of appropriate actions and preventing interactions with objects beyond the end effector's capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot programming system uses a fixed programming interface, then the system structure is simple, but the system cannot adapt to different end effector capabilities
Solution Approach 1:
The programming interface dynamically adapts its structure and available actions based on the detected end effector type and its parameters. The system transitions from a static, fixed interface to a dynamic one that reconfigures itself according to the attached end effector's capabilities, allowing the same robot system to work with multiple end effector types without manual reconfiguration.
Solution Approach 2:
The system changes its operational parameters and available programming options based on the end effector's parameters. When an end effector is attached, the system retrieves its parameters (such as action capabilities, physical properties) and adjusts the programming interface to reflect these parameters, enabling the robot to understand and program for the specific end effector's capabilities.
2Reliability
If the system presents all possible actions to the user, then the user has maximum flexibility, but the user may select invalid actions for the specific end effector
Solution Approach 1:
The system extracts and filters the subset of actions that are valid for the specific end effector from the complete set of possible robot actions. By taking out only the relevant, valid actions based on the end effector's parameters, the system prevents users from selecting invalid actions while maintaining ease of operation through a streamlined, context-appropriate interface.
Solution Approach 2:
The system provides feedback to the user interface about which actions are valid for the current end effector configuration. Based on the end effector's parameters, the system communicates back to the programming interface which actions should be available, creating a feedback loop that ensures only valid actions are presented to the user, thereby improving programming reliability.
3Productivity
If the system requires manual configuration for each end effector, then the system is highly adaptable, but the programming time increases significantly
Solution Approach 1:
The system performs preliminary actions by automatically detecting the end effector type and retrieving its parameters before the user begins programming. This preliminary configuration step eliminates the need for manual setup, allowing users to start programming immediately with the correct actions and parameters already configured, thereby significantly reducing programming time while maintaining high adaptability.
Solution Approach 2:
The system serves itself by automatically identifying the end effector, retrieving its parameters, and configuring the programming interface without requiring manual intervention. The end effector's parameters are automatically read and used to configure the system, making the adaptation process self-service and eliminating time-consuming manual configuration steps.
Data Source
AI summary
Methods and apparatus that adapt programming and/or control of a robot. The robot has at least one attachment area that can removably couple with any one of a plurality of end effectors. The programming and/or control is adapted based on received parameters of an end effector attached (or to be attached) to the attachment area of the robot. Some implementations are directed to adapting graphical user interface output of a robot programming application based on one or more parameters of an end effector for a robot being programmed via the robot programming application. Some implementations are directed to adapting control of a robot based on one or more parameters of an end effector attached (or to be attached) to the robot.