Robot Teaching Point Error Feedback for Selective Re-Teaching
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Solution Overview
Problem
Operators face difficulties in distinguishing between teaching points that require correction and those that do not, leading to complex and repetitive processes when re-teaching robot programs, especially in scenarios where workpiece positions or orientations need adjustment.
Innovation Solution
A teaching device with a selection unit, error calculation unit, and instruction unit that determines whether a teaching point needs re-teaching based on position and orientation errors within predetermined ranges, allowing operators to easily identify and correct only necessary points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If operators manually check each teaching point to determine whether correction is necessary, then teaching accuracy can be maintained, but the teaching process becomes extremely complicated and time-consuming
Solution Approach 1:
The system automatically calculates the position error between the robot's current position and the teaching point position, then provides feedback to the operator by displaying whether re-teaching is necessary. This automated feedback mechanism eliminates the need for manual judgment of each teaching point while maintaining accuracy requirements.
Solution Approach 2:
The system performs self-evaluation by automatically determining which teaching points require correction through error calculation and range comparison, without requiring operator intervention for each individual point. This self-service approach significantly reduces the complexity of the teaching process.
2Measurement precision
If operators re-teach all teaching points to ensure accuracy, then teaching precision is improved, but productivity decreases due to repetitive operations
Solution Approach 1:
Instead of requiring re-teaching of all teaching points, the system calculates errors for each point and only identifies those within the predetermined error range that need correction. This partial action approach maintains precision for critical points while avoiding unnecessary re-teaching operations, thereby improving productivity.
Solution Approach 2:
The system introduces a predetermined error range as a parameter to determine whether re-teaching is necessary. By comparing the calculated position error against this parameter threshold, the system automatically identifies which teaching points require correction, optimizing the balance between precision and efficiency.
3Measurement precision
If the system provides detailed error information for every teaching point, then measurement accuracy is improved, but information overload makes it difficult for operators to identify critical corrections
Solution Approach 1:
The system extracts only the critical information needed for decision-making by comparing errors against the predetermined range and displaying only whether re-teaching is necessary for each point. This extraction of essential information from the complete error data set maintains measurement accuracy while preventing information overload for operators.
Data Source
AI summary
A teaching device for performing teaching operations of a robot includes a selection unit which, during a teaching operation or after a teaching operation of the robot, moves among a plurality of lines of a program of the robot and selects a single line, an error calculation unit which calculates, after the robot has been moved by hand-guiding or jog-feeding to a teaching point which has already been taught in the selected single line, a position error between the teaching point and a position of the robot after movement, and an instruction unit which instructs to re-teach the teaching point when the position error is within a predetermined range.