Robot Motion Teaching Using Marker-Based Human Demonstration
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Solution Overview
Problem
Existing robot teaching methods require significant labor, time, and cost due to the need for advanced image analysis and knowledge of robotic mechanisms, making it difficult for individuals without technical knowledge to intuitively teach human work motions to robots.
Innovation Solution
A method that measures and generates robotic motion data based on the poses of an operation object and the teacher's hand during a work demonstration, using markers and cameras to intuitively teach robotic motions without requiring advanced image analysis or robotic knowledge.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If advanced image analysis and robotic mechanism knowledge are used for robot teaching, then measurement precision and manufacturing precision are improved, but device complexity and ease of operation deteriorate
Solution Approach 1:
The patent introduces markers as intermediary objects attached to the teacher's hand and operation object. These markers serve as mediators between the human demonstration and the robot teaching system, enabling accurate pose measurement without requiring complex image analysis or robotic knowledge from the teacher. The markers provide easily detectable reference points that bridge the gap between human motion and robotic interpretation.
Solution Approach 2:
The patent replaces complex mechanical image analysis systems with a simpler marker-based detection approach. Instead of using advanced computer vision to analyze hand poses directly, the system substitutes this with tracking predefined markers whose positions and orientations can be detected more simply, thereby maintaining measurement precision while reducing operational complexity.
2Measurement precision
If advanced image analysis is used for robot teaching, then measurement precision is improved, but device complexity and loss of time increase
Solution Approach 1:
Markers are introduced as intermediary detection targets that simplify the measurement process. Instead of analyzing complex hand images directly, the system tracks the positions and orientations of these markers, which provide clear geometric references that are easier to detect with lower computational complexity while maintaining high measurement precision.
Solution Approach 2:
The patent changes the detection parameters from complex hand feature extraction to simple marker position and orientation detection. This parameter change transforms the measurement task into one that requires less computational power and simpler algorithms, thereby reducing device complexity while preserving measurement accuracy through the well-defined geometric properties of the markers.
3Ease of operation
If normal human motion is maintained during teaching, then ease of operation is improved, but adaptability to robotic constraints deteriorates
Solution Approach 1:
The system performs preliminary measurement of the teacher's natural hand pose and the operation object pose using markers. This preliminary action captures the natural human motion data before any adaptation is needed, allowing the system to later process this data into robotic-compatible commands without requiring the teacher to modify their natural motion patterns.
Solution Approach 2:
The marker-based measurement system acts as an intermediary that decouples the teacher's natural motion from the robot's constraints. The markers record the natural human pose, and the system then handles the transformation to robotic joint space, allowing the teacher to maintain natural motion while the system manages the adaptability to robotic constraints.
Data Source
AI summary
Provided is a technique that allows even a person without knowledge on robots to intuitively and efficiently teach a work motion a robot by a work demonstration while maintaining a normal human motion as much as possible, and that can reduce the man-hours for pre-adjustment of teaching, facilitate the introduction, etc. A robot teaching method is a method for performing teaching for generating a motion of a robotic hand mechanism corresponding to a work motion including an operation on an operation object by a hand of a teacher based on measurement of a work motion, and includes, as steps performed by a computer system: a step of acquiring a first measured pose obtained by measuring a pose of the operation object and a second measured pose obtained by measuring a pose of the hand of the teacher during the work motion; a step of detecting the operation on the operation object by the teacher; and a step of generating a teaching pose for generating the robotic motion data based on the first measured pose, the second measured pose, and the detected operation.