Robot Teaching Control for Fine Work Timing and Motion Capture
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Solution Overview
Problem
Existing teaching devices for robots struggle to accurately mimic fine work operations, such as those requiring precise movement and attachment of components, as they are difficult to instruct on incorporating specific tasks like movement or attachment work at the correct timing, leading to the need for complex correction processes.
Innovation Solution
A teaching device equipped with a movable section, a driving section, and a movable section marker, which generates positional information and corrects the working section's position, allowing for the integration of detailed working content by linking movement and work information to generate control information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motion capture is used to teach robot arm movement, then movement position and speed can be calculated, but fine work operations by the end effector cannot be accurately mimicked
Solution Approach 1:
The teaching device divides the robot system into two independent teaching modes: one for the arm section (using motion capture for movement position and speed) and one for the end effector (using input section for fine work operations). This segmentation allows each part to be taught with the appropriate level of precision for its specific function.
Solution Approach 2:
The device allows dynamic switching between different teaching methods depending on the work phase. During movement phases, motion capture data is used; during fine work phases, manual input through the input section is used. This dynamic adaptation optimizes precision for each specific operation type.
2Adaptability or versatility
If correction processes are added to incorporate different work types, then work diversity can be achieved, but the complexity of instructing work timing and process integration increases
Solution Approach 1:
The input section serves multiple functions: it can input work information for the end effector, specify work timing, and integrate correction processes all through a single unified interface. This multi-functionality reduces the need for separate systems for each type of work integration.
Solution Approach 2:
The device allows work information and timing to be specified in advance through the input section before execution. This preliminary specification simplifies the integration process by pre-defining when and how different work types should be incorporated, eliminating the need for complex real-time decision-making.
3Productivity
If control information is created once using motion capture, then teaching efficiency is improved, but the ability to add correction processes and subroutines requires complex searching and manual intervention
Solution Approach 1:
The input section enables work information and timing specifications to be entered in advance during the initial teaching phase. This preliminary action ensures that correction processes and subroutines are already integrated into the control information structure, eliminating the need for time-consuming searches and manual additions later.
Solution Approach 2:
The device provides feedback mechanisms that allow verification of work information input and timing specifications. This feedback ensures that correction processes are properly integrated during the teaching phase, reducing the need for iterative adjustments and manual interventions after control information generation.
Data Source
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AI summary
There is provided a teaching device which is capable of teaching not only movement work but also more detailed working content. Teaching device 10 is provided with input section 67 for inputting work information D3 such as work of pinching workpieces which is carried out by a robot arm at a working position. When carrying out motion capture by moving jig 15 (an object which mimics the robot arm) which is provided with marker section 43, a user manipulates input section 67 at an appropriate timing to input the working content to be performed by the robot arm as work information D3, and thus it is possible to set fine working content of the robot arm in teaching device 10. Accordingly, teaching device 10 is capable of linking positional information D2 of jig 15 and the like and work information D3 generating control information D5 for controlling the robot arm.