Robot Teaching with 3D Coordinate Correction for Arm Posture
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Solution Overview
Problem
Existing robot teaching methods fail to accurately align the robot's posture with the desired posture due to a lack of correspondence between the workpiece's three-dimensional data coordinate system and the robot's coordinate system, leading to undesirable postures and reduced movable ranges.
Innovation Solution
A teaching method that sets a first work point on the working route based on three-dimensional data and associates a correction coordinate system with the robot's coordinate system, selecting from multiple candidates to align the data coordinate system with the robot's coordinate system, ensuring a proper posture for the robot arm during work.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a coordinate system is set for three-dimensional data of a workpiece and robot posture is set based on that coordinate system, then the working route can be generated, but the correspondence with the robot's coordinate system is not obtained, resulting in incorrect robot posture
Solution Approach 1:
The patent introduces a coordinate system association mechanism that acts as an intermediary between the workpiece coordinate system and the robot coordinate system. This intermediary establishes proper correspondence relationships, enabling accurate robot posture determination while maintaining the simplicity of working route generation from three-dimensional data.
2Productivity
If grid points are set in mesh form on the workpiece surface as tool passage points, then a working route can be generated, but the robot movable range is reduced due to incorrect posture alignment
Solution Approach 1:
The patent applies parameter changes by transforming the coordinate system parameters to establish proper correspondence between the workpiece coordinate system and robot coordinate system. This transformation enables the robot to achieve desired postures while maintaining efficient working route generation through grid point-based path planning.
3Ease of operation
If the robot arm is driven to pass through tool passage points based on uncorrected coordinate systems, then the working route is executed, but the robot posture differs from the desired posture
Solution Approach 1:
The patent implements preliminary action by pre-establishing the coordinate system association and determining correction coordinate systems before executing the working route. This preliminary setup ensures that the robot achieves the desired posture during work execution without requiring complex real-time adjustments, maintaining both simplicity and precision.
Data Source
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AI summary
A teaching method of teaching a position of a control point on a working route through which the control point set on a robot arm passes when the robot arm performs work and a posture of the robot arm using three-dimensional data of a working object, includes a first step of setting a predetermined first work point on the working route based on the three-dimensional data, and a second step of associating a first coordinate system set for the first work point with a second coordinate system set for the robot arm when the control point is located at the first work point, wherein, at the second step, one is selected from a plurality of candidates of the first coordinate system at the first work point, and the selected coordinate system is set as a first correction coordinate system for the first work point.