Robot Arm Teaching Candidate Points for Faster Accurate Setup
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Solution Overview
Problem
Existing teaching methods for robots with robot arms are inefficient when performed by workers with low skills, as they struggle to accurately and quickly set the desired positions and attitudes of the robot arm, leading to complex motion trajectories and prolonged teaching times.
Innovation Solution
A teaching method and apparatus that store the position and attitude of control points when movement velocity and angular velocity are below predetermined thresholds, set an area including multiple specific control points, and designate teaching candidate points within this area to facilitate quick and accurate teaching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a worker with low skills performs teaching by manually moving the robot arm to desired positions and attitudes, then the teaching process can be completed, but it is difficult to achieve accurate positioning and the teaching time is prolonged
Solution Approach 1:
The system automatically identifies and sets teaching candidate points by analyzing the robot arm's motion trajectory and velocity characteristics. The control point velocity detection unit and teaching candidate point setting unit enable the system to self-select appropriate teaching points without requiring manual intervention from workers, thereby eliminating the positioning accuracy problems that arise when unskilled workers perform manual teaching.
2Ease of operation
If traditional teaching methods are used where workers manually set robot arm positions and attitudes, then teaching can be performed, but the operation becomes complex and time-consuming for unskilled workers
Solution Approach 1:
The teaching candidate point setting unit automatically identifies suitable teaching points based on the robot arm's motion characteristics, eliminating the need for workers to manually determine positions and attitudes. This self-service mechanism simplifies the teaching operation significantly, making it accessible to workers with low skills while reducing teaching time.
Solution Approach 2:
The system replaces manual mechanical positioning operations with automated control point velocity detection and teaching candidate point setting. The control point velocity detection unit monitors velocity parameters, and the teaching candidate point setting unit automatically selects teaching points based on velocity thresholds, substituting the mechanical manual adjustment process with an automated detection and selection system.
3Measurement precision
If multiple teaching points are manually selected to ensure accuracy, then positioning precision improves, but the number of operations increases and teaching complexity rises
Solution Approach 1:
The teaching candidate point setting unit automatically identifies and sets teaching candidate points by analyzing control point velocity characteristics. This self-service approach eliminates the need for workers to manually select multiple teaching points, thereby maintaining teaching point accuracy while significantly reducing teaching process complexity.
Solution Approach 2:
The system uses control point velocity as a parameter to automatically identify teaching candidate points. By detecting when the control point velocity is below a predetermined threshold, the system determines appropriate teaching points without requiring manual intervention. This parameter-based automatic identification maintains accuracy while simplifying the overall process.
Data Source
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AI summary
A teaching method of teaching a robot having a robot arm, includes a first step of storing a position or an attitude of a control point set for the robot arm when a first condition that a movement velocity of the control point is equal to or lower than a predetermined first velocity or an angular velocity of the control point is equal to or lower than a predetermined first angular velocity is satisfied during a teaching motion of the robot arm, a second step, when a number of specific control points as the stored control points is equal to or larger than N, N being an arbitrary integer of two or more, of setting an area including the specific control points, and a third step of setting a teaching candidate point within the area.