Robot Teaching Path Correction for Virtual-Real Geometry Errors
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Solution Overview
Problem
Existing teaching devices for robots cannot correct geometric differences between virtual and real robot systems, leading to potential interference between the robot and peripheral structures, as they only address position errors and not model geometry discrepancies.
Innovation Solution
A teaching device that acquires and corrects the moving path of a robot based on geometric errors between virtual and real 3D models of the robot and its peripheral structures, ensuring accurate off-line teaching data generation even with geometric differences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a simple geometric model is used for the peripheral structure in the virtual robot system, then the construction of the virtual robot system is simplified, but a geometric difference occurs between the virtual robot system and the real robot system
Solution Approach 1:
The patent performs preliminary measurement of the real peripheral structure using a sensor before constructing the virtual robot system. This measurement data is then used to create an accurate 3D model of the peripheral structure, eliminating the need to use simplified geometric models and preventing geometric differences between virtual and real systems.
Solution Approach 2:
The patent replaces manual modeling or simplified geometric modeling with automated sensor-based measurement and 3D reconstruction. This substitution of mechanical/modeling processes with measurement-based digital processes enables accurate capture of the real peripheral structure's geometry.
2Measurement precision
If only disposed position errors are corrected, then the position alignment between virtual and real systems is improved, but errors in model geometry of the structure remain uncorrected
Solution Approach 1:
The patent separates the error correction process into two distinct segments: position error correction and geometric error correction. First, disposed position errors are corrected by shifting teaching point coordinates, then geometric errors are corrected by comparing sensor measurements with the 3D model and adjusting the model accordingly. This segmentation ensures both position and geometry are accurately addressed.
3Measurement precision
If the teaching point coordinates are shifted by the amount of position errors, then the position alignment is improved, but the moving path cannot be corrected to the shortest path due to geometric differences
Solution Approach 1:
The patent performs preliminary measurement of the real peripheral structure using a sensor before generating the operation program. This measurement data is used to create or update the 3D model of the peripheral structure in the virtual robot system, ensuring that the shortest path calculation is based on accurate geometric data, thus enabling the robot to execute the shortest path efficiently.
Data Source
AI summary
A teaching device constructs, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged, and teaches a moving path of the robot. The teaching device includes an acquisition unit configured to acquire information about a geometric error between the virtual 3D models, and a correction unit configured to correct the moving path of the robot in accordance with the information acquired by the acquisition unit.