Robot Teaching Point Extraction for Accurate Spray Path Control
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Solution Overview
Problem
Existing techniques for generating motion control data for robots, such as painting robots, struggle to accurately reflect the complex movements of manual spray guns due to the inherent inaccuracies in manually defined paths, especially when dealing with workpieces of complicated shapes.
Innovation Solution
A processing method that extracts reference teaching points from a time-series sequence of teaching data, identifying points with significant directional and positional changes exceeding predefined thresholds, to generate control data that accurately reflects the movement of the end effector, using a robot system comprising a robot, controller, imaging system, and information processor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the moving path is defined as a straight line or specific curve connecting spray start and stop positions, then the control program generation is simplified, but the accuracy of reflecting the manual spray gun movement path is insufficient
Solution Approach 1:
The patent segments the continuous teaching data into discrete teaching points, and further identifies key reference teaching points among them. This segmentation allows the system to capture essential movement characteristics without processing every single data point, thus balancing accuracy with computational efficiency.
Solution Approach 2:
The patent extracts reference teaching points from the complete teaching data based on specific criteria (directional changes exceeding threshold values). This extraction process isolates the most critical positions that define the spray path geometry, enabling accurate path representation with reduced data complexity.
2Manufacturing precision
If all teaching points are used to define the moving path, then the accuracy of reflecting manual spray gun movement is improved, but the data processing complexity and computation time increase
Solution Approach 1:
The patent extracts only the essential reference teaching points from the complete teaching data set by applying threshold-based criteria for directional changes. This extraction eliminates redundant data points while preserving the critical geometric information needed for accurate path reproduction.
Solution Approach 2:
The patent changes the parameter of data representation from using all teaching points to using a filtered subset of reference teaching points identified by directional change thresholds. This parameter change optimizes the balance between path accuracy and processing efficiency.
3Manufacturing precision
If the threshold for directional change is set low, then more reference teaching points are extracted improving path accuracy, but the number of processing points increases reducing efficiency
Solution Approach 1:
The patent adjusts the threshold parameter for directional change detection to optimize the balance between accuracy and efficiency. By setting an appropriate threshold value, the system extracts sufficient reference points to capture path geometry while avoiding excessive data points that would reduce processing efficiency.
Data Source
AI summary
A processing method includes one or both of a first processing and a second processing for extracting a reference teaching point from teaching points. The first processing extracts a reference teaching point having a difference between a direction vector from a teaching point preceding the reference teaching point to the reference teaching point, and a direction vector from the reference teaching point to a teaching point succeeding the reference teaching point, being equal to or more than a threshold. The second processing extracts the reference teaching point having one of a difference between a posture at a teaching point preceding the reference teaching point and a posture at the reference teaching point, and a difference between the posture at the reference teaching point and a posture of a teaching point succeeding the reference teaching point, being equal to or more than a threshold.