Robot Teaching Position Correction Using Index-Based Pose Adjustment
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Solution Overview
Problem
Existing technologies for correcting a robot's teaching position are complex and require actual machine touch-up operations, making the process cumbersome and inefficient.
Innovation Solution
A device and method that utilize an index arranged at a predetermined position with respect to a workpiece to correct the teaching position of a robot by acquiring and processing position data before and after changes in the workpiece arrangement, allowing for orientation and position adjustments without physical touch-up.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional teaching position correction methods are used, then the robot can be taught new positions, but the process requires complex actual machine touch-up operations
Solution Approach 1:
The patent uses index positions as digital copies or representations of actual workpiece positions. Instead of performing physical touch-up operations on the machine, the system captures and processes images of index markers to create virtual position data that can be used for correction, eliminating the need for complex physical adjustment procedures
Solution Approach 2:
The patent replaces the mechanical touch-up operation system with an optical imaging and image processing system. By using cameras to capture index positions and computational algorithms to calculate corrections, the system substitutes physical mechanical adjustments with non-contact optical measurement and digital computation
2Reliability
If actual machine touch-up operations are performed for teaching position correction, then accurate position data can be obtained, but the task becomes cumbersome and time-consuming
Solution Approach 1:
The patent places index markers on workpieces in advance before the actual teaching process. These pre-positioned indices serve as predetermined reference points that capture position information, eliminating the need for time-consuming real-time manual measurement and adjustment operations during the teaching process
Solution Approach 2:
The system uses captured images of index markers as digital copies of physical positions. By processing these image copies through coordinate transformation algorithms, the system obtains accurate position data without requiring time-consuming physical touch-up operations on the robot or workpiece
3Ease of operation
If manual teaching position correction is performed, then position adjustments can be made, but the operation requires skilled personnel and complex procedures
Solution Approach 1:
The system performs self-correction by automatically capturing index positions with cameras, calculating position deviations through image processing, and generating correction data without requiring manual intervention. The robot system uses its own imaging capability and computational resources to autonomously determine and apply position corrections
Solution Approach 2:
The patent implements a feedback mechanism where the system captures actual index positions, compares them with predetermined reference positions, calculates deviations, and generates correction data based on this feedback. This closed-loop approach ensures accurate position correction while simplifying operations, as the system automatically adjusts based on measured discrepancies
Data Source
AI summary
A device to correct a teaching position of a robot includes an orientation change data acquisition section to acquire orientation change data indicating a change amount in an orientation of a workpiece with respect to the robot due to a change of an arrangement, based on first and second position data of the robot, a third position data acquisition section to acquire third position data of the robot when a hand-tip portion is arranged in a predetermined positional relationship with an index in a state where the hand-tip portion is arranged at a second orientation which is corrected by using the orientation change data, and a position change data acquisition section to acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data.