Robot Teaching Interface with Posture-Aligned Motion Control
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Solution Overview
Problem
Current robot control systems face challenges in intuitively determining motion directions and scalar quantities for multi-articular arms, leading to discrepancies between intended and actual operations during teaching modes.
Innovation Solution
An operation device with processing circuitry that detects the posture of an input device in a first coordinate system, rotates a second coordinate system, and generates motion commands correlated with positional relationships between specified points and reference points, enabling precise control of multi-articular arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a fixed coordinate system is used for robot control, then the control system is simple to implement, but it becomes difficult to intuitively determine motion directions and scalar quantities for multi-articular arms
Solution Approach 1:
The patent implements a movable coordinate system that dynamically rotates and aligns with the operation input device's posture. The coordinate system's orientation changes in real-time based on the detected posture angles, allowing the operation screen to always present motion directions that match the operator's natural orientation, thus resolving the contradiction between ease of operation and system complexity
Solution Approach 2:
The patent introduces a coordinate transformation unit as an intermediary between the fixed robot control system and the movable operation input device. This intermediary performs real-time coordinate system rotation and motion command conversion, enabling intuitive operation without requiring changes to the underlying robot control architecture, thereby managing the complexity while improving ease of operation
2Measurement precision
If the operation input device posture is detected and coordinate system is rotated, then motion directions are determined more intuitively, but the processing complexity increases
Solution Approach 1:
The patent implements a feedback loop where the posture detection unit continuously monitors the operation input device's orientation, and this information is fed back to the coordinate transformation unit. The system automatically adjusts the coordinate system orientation based on the detected posture, ensuring accurate motion direction determination while automating the complexity management through closed-loop control
Solution Approach 2:
The patent replaces manual coordinate system alignment with automated electronic posture detection and coordinate transformation. Instead of requiring operators to manually adjust coordinates, the system uses sensors to detect device posture and automatically performs the necessary mathematical transformations, reducing manual complexity while improving measurement precision
3Productivity
If motion commands are generated based on positional relationships in a movable coordinate system, then teaching mode efficiency is enhanced, but the time required for coordinate transformation increases
Solution Approach 1:
The patent performs preliminary coordinate system rotation to align the movable coordinate system with the operation device posture before motion command generation. By pre-aligning the coordinate system, the subsequent motion command generation uses already-transformed coordinates, eliminating the need for additional real-time transformation during command execution and reducing overall transformation time
Solution Approach 2:
The patent maintains continuous coordinate system alignment with the operation device posture throughout the teaching process. The coordinate transformation operates continuously in the background, ensuring that the movable coordinate system remains synchronized with the device orientation at all times, thereby eliminating interruptions and maintaining teaching mode efficiency without repeated transformation delays
Data Source
AI summary
An operation device includes operation input circuitry that receives instructions for operating robot having leading end and arm that changes position and posture of the end, and processing circuitry that outputs, to the input circuitry, operation image by which instruction for motion command for the end is input, detects posture of the input circuitry in first coordinate system, rotates second coordinate system relative to the first system based on the posture of the input circuitry, converts the command into first-coordinate-system command, and outputs the first-coordinate-system command based on the first-coordinate-system command. Upon execution of operation of specifying point on the image, the processing circuitry determines motion direction of the end in the second system correlated with positional relationship between the point and reference point in the image, determines motion scalar quantity of the end correlated with distance between the points, and generates the motion command including the direction and quantity.