Robot Task Teaching with Reference Path Correction for High-Speed Positioning
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Solution Overview
Problem
Existing task teaching methods for robots face challenges in ensuring accurate absolute positioning, particularly for high-speed tasks, due to errors arising from robot structure, command path, and object weight, and require continuous ultrasonic range finder usage, which is impractical for high-speed operations.
Innovation Solution
A method involving a gripper unit that generates and modifies time-series data for a robot's operation path to match a reference path, using a motion capture system with marker plates and cameras to teach tasks with high accuracy, allowing the robot to execute high-speed tasks without continuous real-time correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If ultrasonic range finder is used for continuous correction control during robot operation, then positioning accuracy is improved, but device complexity increases and real-time correction is not achieved for high-speed tasks
Solution Approach 1:
The patent applies preliminary action by measuring the teacher's task operation in advance using an ultrasonic range finder to generate reference data, then using this pre-acquired data to correct the robot's operation path before actual high-speed execution. This eliminates the need for continuous real-time correction during robot operation, reducing device complexity while maintaining positioning accuracy.
2Measurement precision
If correction control is executed during actual task execution, then positioning accuracy is improved, but productivity decreases due to time loss during high-speed operation
Solution Approach 1:
The patent executes correction control in advance by measuring the teacher's operation, generating reference data, and calculating correction values before the robot performs the actual task. This preliminary correction approach ensures positioning accuracy while allowing the robot to execute high-speed tasks without time loss during operation, thereby maintaining productivity.
3Measurement precision
If teaching data is generated from teacher's operation, then task teaching accuracy is improved, but time loss occurs during measurement and data generation
Solution Approach 1:
The patent performs the measurement and data generation as a preliminary action during the teaching phase, allowing the robot to execute the task without time loss during actual operation. The ultrasonic range finder measures the teacher's operation in advance, generating reference data that is then used to correct the robot's path, ensuring teaching accuracy while minimizing time loss during productive execution.
Data Source
AI summary
Provided is a task teaching method for teaching a task to a robot that includes a gripper unit configured to grip a grip target object and moves the grip target object gripped by the gripper unit, the task teaching method including: a generation step (S701) of outputting, as a reference path, time-series data regarding a position and an attitude of the grip target object when a teacher grips and moves the grip target object and generating teaching data of the robot corresponding to the reference path; and a modification step (S702) of outputting, as an operation path, time-series data regarding a position and an attitude of the grip target object or the gripper unit when the robot is operated using the teaching data before an actual task is executed by the robot and modifying the teaching data such that the operation path matches with the reference path.