Robot Teaching Path Generation Using Tool and Pose Data
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Solution Overview
Problem
Conventional teaching programs for robots do not effectively utilize information about the tool attached to the robot, such as shape, size, and inertia, or the initial orientation and position of the robot, leading to inaccurate path generation and interference during specific actions.
Innovation Solution
A teaching program generation device that acquires information from a robot controller, including tool characteristics and initial robot conditions, to generate a correct path for the robot to perform actions while avoiding interference, using point cloud data and three-dimensional models for accurate path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional teaching methods are used without utilizing tool information, then the teaching program generation process is simple, but the generated path does not account for tool shape, size, or inertia differences, leading to interference
Solution Approach 1:
The system performs preliminary acquisition and storage of tool information (shape, size, inertia) and robot initial conditions before path generation. This preliminary preparation ensures that accurate information is available when needed for path planning, resolving the contradiction by preparing data in advance rather than processing it during path generation
Solution Approach 2:
The patent introduces an intermediary information processing layer that acquires tool and robot information from external sources, processes this data, and provides it to the path generation unit. This intermediary layer manages the complexity of information processing while ensuring accurate path generation by mediating between raw data and path planning algorithms
2Measurement precision
If accurate initial robot information is obtained through operator input, then the path generation can be accurate, but operator input errors or changes in robot position/orientation lead to inaccurate paths
Solution Approach 1:
The system implements feedback by acquiring actual robot initial position and orientation information from the robot controller during the teaching process. This feedback mechanism ensures that the path generation uses accurate, real-time robot state information rather than relying on potentially erroneous operator inputs or outdated data
Solution Approach 2:
The robot controller automatically provides initial position and orientation information to the teaching program generation device without requiring manual operator input. This self-service approach eliminates human error in data entry and ensures that the most current robot state information is used for path generation
3Productivity
If tool information is not used in path generation, then the teaching program generation is faster and simpler, but the robot cannot avoid interference when tools are replaced
Solution Approach 1:
Tool information including shape, size, and inertia is acquired and stored in advance before path generation. This preliminary preparation allows the system to quickly access relevant tool parameters during path planning without slowing down the overall process, while ensuring that path generation accounts for specific tool characteristics and prevents interference
Solution Approach 2:
The system dynamically adapts path generation to different tools by utilizing stored tool information. When tools are replaced, the system can quickly retrieve the new tool's parameters and regenerate appropriate paths, providing adaptability without requiring complete re-programming. This dynamic approach balances speed and versatility by preparing tool data in advance while maintaining flexibility for tool changes
Data Source
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AI summary
To generate a correct path for a robot to perform a certain action while avoiding interference. The teaching program generation device generates a teaching program for teaching a robot a predetermined action, based on information about the robot and its surroundings. The device includes an acquisition unit that acquires, from a robot controller that controls driving of the robot, information to be used for the robot to perform the predetermined action while avoiding interference, and a teaching program generation unit that generates a movement path for the robot to perform the predetermined action while avoiding interference, based on the information.