Robot Simulation Model Correction Using 3D Shape Feedback
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Solution Overview
Problem
Current simulation devices for machine systems, such as automation systems with robots, face challenges in accurately modeling three-dimensional real shapes, leading to potential collisions and reduced reliability in simulating robot operations due to inaccuracies in simulation models.
Innovation Solution
A simulation device that generates an actual shape model based on measured data and corrects the simulation model by comparing it with the actual shape model, using a combination of three-dimensional cameras and a model correction unit to match and adjust the simulation model's object positions and postures, and includes additional units for object addition and deletion to refine the model accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a simulation model is generated to simulate a three-dimensional real shape of the machine system, then the simulation can be performed, but the accuracy of the simulation model is insufficient leading to potential collisions
Solution Approach 1:
The patent creates a digital copy (simulation model) of the physical machine system and iteratively refines this copy by comparing it with actual measured data from the real system. The model is updated to match the real object's geometry, ensuring the simulation accurately reflects reality without requiring direct physical testing
Solution Approach 2:
The patent implements a feedback loop where the simulation model is continuously corrected based on comparison between the simulation model and actual shape model derived from measured data. This closed-loop approach ensures the simulation model converges to match the real machine system's geometry, improving reliability through iterative refinement
2Measurement precision
If the simulation model is corrected based on comparison with actual shape model, then the accuracy is improved, but the complexity of the modeling process increases
Solution Approach 1:
The patent performs preliminary actions by first generating an initial simulation model before actual operation, then systematically correcting it using pre-acquired measured data. The correction process prepares the model in advance to match the real system, reducing the need for complex real-time adjustments during operation
Solution Approach 2:
The patent replaces complex manual modeling and measurement processes with automated computational methods. Software algorithms automatically compare the simulation model with actual shape models derived from measured data, eliminating the need for manual geometric matching and reducing process complexity despite increased computational requirements
Data Source
AI summary
The simulation device include circuitry configured to: store a simulation model of a machine system including a robot, the simulation model generated to simulate a three-dimensional real shape of the machine system; receive measured data acquired by measuring the machine system in a real space; generate, based on the measured data, an actual shape model representing a three-dimensional real shape of the machine system; and correct the simulation model of the machine system based on a comparison between the simulation model and the actual shape model.