Robot Arm Teaching Points from Low-Velocity Motion Cues
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Solution Overview
Problem
Existing robot teaching methods struggle with accuracy and efficiency, especially when performed by workers with low skills, as they find it difficult to move robot arms to precise positions and attitudes, leading to complex trajectories and increased teaching time.
Innovation Solution
A teaching method and apparatus that store the position and attitude of a robot arm's control point when its velocity and angular velocity meet predetermined thresholds, setting an area including multiple specific control points, and designating teaching candidate points within this area to facilitate quick and accurate teaching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a worker with low skills performs teaching by manually moving the robot arm to desired positions, then the teaching process can be completed, but it is difficult to achieve accurate positioning and the teaching time increases significantly
Solution Approach 1:
The system provides real-time feedback by displaying the robot arm's current position and velocity information on a display unit. The control unit monitors movement velocity and compares it against predetermined thresholds, giving the operator visual feedback about whether the arm is moving fast enough to qualify position data for storage. This feedback loop enables operators to understand the system's state and adjust their manipulation accordingly.
Solution Approach 2:
The system automatically determines whether to store position data based on the movement velocity of the robot arm. When the arm moves slower than the predetermined velocity threshold, the system automatically stores the position information without requiring manual intervention or judgment from the operator. This self-service mechanism eliminates the need for skilled operators to judge optimal teaching points.
2Measurement precision
If the robot arm is moved slowly to achieve precise positioning during teaching, then positioning accuracy improves, but the teaching velocity decreases and teaching time increases
Solution Approach 1:
The system stores position data selectively rather than continuously - only when the movement velocity condition is satisfied. This partial action approach means that not every position along the trajectory is recorded, only those meeting the velocity criterion. This allows the robot arm to move faster overall while still capturing sufficient teaching data at appropriate moments.
Solution Approach 2:
The system changes the parameter being monitored from position alone to a combination of velocity and position. By introducing velocity as a critical parameter, the system determines teaching point selection dynamically based on movement characteristics rather than static position criteria. This enables faster movement while maintaining teaching quality.
3Manufacturing precision
If multiple position points are stored during teaching, then the accuracy of work detail reproduction improves, but the complexity of the motion program increases
Solution Approach 1:
The system changes the selection criterion for storing position data from operator judgment to an objective velocity parameter. By using a predetermined velocity threshold as the basis for determining teaching points, the system objectively selects only the necessary positions. This reduces the number of stored points compared to manual methods while ensuring sufficient accuracy.
4Productivity
If the robot arm moves quickly during teaching to reduce teaching time, then productivity improves, but the positioning accuracy and attitude precision deteriorate
Solution Approach 1:
The system provides velocity feedback to indicate when the robot arm is moving at acceptable speeds for data storage. The display unit shows whether the current velocity satisfies the predetermined condition, giving operators real-time feedback about the quality of teaching data being captured. This enables faster overall movement while ensuring accurate data capture at appropriate moments.
Data Source
AI summary
A teaching method of teaching a robot having a robot arm, includes a first step of storing a position or an attitude of a control point set for the robot arm when a first condition that a movement velocity of the control point is equal to or lower than a predetermined first velocity or an angular velocity of the control point is equal to or lower than a predetermined first angular velocity is satisfied during a teaching motion of the robot arm, a second step, when a number of specific control points as the stored control points is equal to or larger than N, N being an arbitrary integer of two or more, of setting an area including the specific control points, and a third step of setting a teaching candidate point within the area.