Robot Teaching via Movable Object Intermediary
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Solution Overview
Problem
Direct robot teaching methods impose significant physical and temporal burdens on operators due to the weight and size of robots, making the process inefficient and labor-intensive.
Innovation Solution
An information processing apparatus and robot system that utilize a movable object to independently move and track positions and orientations in a physical space, allowing the system to generate trajectory information for a robot's specific parts, thereby reducing operator intervention and burden.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If direct robot teaching is used where operator manipulates the robot directly, then the robot can be taught actions accurately, but the physical and temporal burdens on the operator increase significantly
Solution Approach 1:
The patent introduces a movable object as an intermediary between the operator and the robot. The operator manipulates the movable object instead of the robot directly, and the system automatically generates robot teaching information based on the movable object's movement trajectory. This intermediary approach reduces the physical and temporal burdens on the operator while maintaining teaching accuracy.
Solution Approach 2:
The system creates a copy of the robot's end effector as a movable object. The movable object replicates the movement trajectory and teaching information is automatically generated from this copy's movement, eliminating the need for direct robot manipulation and significantly reducing teaching time and operator burden.
2Measurement precision
If direct robot teaching is used where operator manipulates the robot directly, then the robot can be taught actions accurately, but the physical burden on the operator increases due to robot weight and size
Solution Approach 1:
The movable object serves as a lightweight intermediary that the operator manipulates instead of the heavy robot. This mediator transfers the teaching task from direct robot manipulation to movable object manipulation, significantly reducing the physical burden on the operator while the system automatically captures and processes the movement data for accurate robot teaching.
Solution Approach 2:
A lightweight copy or representation of the robot's end effector is created as the movable object. This copy replicates the essential movement characteristics without the robot's weight, allowing the operator to manipulate it easily while the system generates accurate teaching information from the copy's trajectory.
3Ease of operation
If a movable object is used for robot teaching instead of direct manipulation, then the physical and temporal burdens on operator are reduced, but the device complexity increases
Solution Approach 1:
While the movable object as an intermediary simplifies operator interaction, the system incorporates automated processing components that handle the complexity of converting movable object trajectory data into robot teaching information. This automation manages the device complexity while maintaining ease of operation for the operator.
Solution Approach 2:
The system performs self-service by automatically generating robot teaching information from the movable object's movement data without requiring complex manual intervention. The automated processing and conversion mechanisms handle the complexity internally, keeping the operator interface simple and easy to use.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution significantly reduces the physical and temporal burdens on human operators by automating the teaching process, enabling more efficient and accurate robot training without direct manipulation of the robot.
Implementation Method 1
The movable object includes (i) an inertial sensor configured to detect orientations of the movable object at the respective positions in the physical space
Data Source
AI summary
A robot controller acquires positions and orientations of a terminal apparatus in a physical space. The robot controller generates trajectory information indicating a trajectory of an end effector of the robot, the end effector moving to the same positions in the physical space at which the terminal apparatus was positioned, by defining positions and orientations of the end effector based on the acquired positions and orientations of the terminal apparatus.