Robot Teaching Interface for Hierarchical Pose Error Checking
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Solution Overview
Problem
Conventional methods for teaching robot operations, especially in complex tasks like palletizing, face challenges with error handling and trajectory calculation, as they lack efficient mechanisms to identify affected position and orientation data ranges and perform real-time error checking, leading to increased man-hours and errors.
Innovation Solution
An information processing method and apparatus that store position and orientation data in a hierarchical structure, allowing immediate identification of affected data ranges and enabling real-time error checking during input, editing, or correction, with virtual display outputs and numeric value displays for confirmation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual teaching operations are performed for all teaching points in complex robot operations like palletizing, then the robot operation can be accurately programmed, but the man-hour for teaching increases significantly
Solution Approach 1:
The system performs preliminary error checking and validation of position and orientation data before actual robot execution. By pre-identifying errors in teaching data through hierarchical structure analysis and range validation, the system prevents costly manual re-teaching and reduces the overall time required for accurate robot programming.
Solution Approach 2:
The patent replaces manual mechanical teaching operations with automated computational error checking and validation systems. Through hierarchical data structures and automatic range verification algorithms, the system substitutes time-consuming manual teaching with efficient automated processes that validate teaching data correctness.
2Ease of operation
If teaching is performed in an offline environment without actual connection to the robot apparatus, then teaching can be done without interfering with actual operations, but it becomes difficult to confirm actual operation and increases teaching errors
Solution Approach 1:
The system implements feedback mechanisms by validating teaching data against predefined ranges and hierarchical structures before robot execution. The error checking process provides feedback on teaching data correctness, allowing operators to confirm accuracy in offline environments without actual robot connection, thereby maintaining both ease of operation and teaching reliability.
Solution Approach 2:
The patent performs preliminary validation and error checking of teaching data in offline environments before actual robot execution. By pre-verifying position and orientation data within valid ranges and hierarchical relationships, the system enables accurate offline teaching that does not interfere with actual operations while maintaining high teaching accuracy.
3Productivity
If offset values are used for teaching multiple works in palletizing operations, then the number of teaching points required is reduced, but calculation and setting errors increase due to matrix calculations for oblique directions
Solution Approach 1:
The system implements feedback through automatic validation of offset calculations against predefined ranges and hierarchical data structures. By checking whether calculated position and orientation values fall within valid ranges and maintaining proper hierarchical relationships, the system detects calculation errors and prevents propagation of inaccurate offset values, thereby maintaining high productivity while ensuring calculation accuracy.
Solution Approach 2:
The patent prepares cushioning measures by pre-defining valid ranges for position and orientation data and establishing hierarchical data structures before offset calculations are performed. These preparatory structures act as safety nets that catch calculation errors and prevent them from causing significant problems, allowing efficient offset-based teaching while maintaining reliability through pre-established validation frameworks.
4Ease of manufacture
If position and orientation data are stored without hierarchical structure, then data storage is simple, but affected data ranges cannot be immediately identified when errors occur
Solution Approach 1:
The patent segments position and orientation data into hierarchical structures with parent-child relationships, dividing the data into organized groups that represent logical dependencies. This segmentation allows the system to quickly identify affected data ranges by traversing hierarchical relationships when errors are detected, maintaining ease of storage while enabling efficient error detection and range identification.
Data Source
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AI summary
A displaying apparatus includes a virtual environment screen displaying a state of a robot identified, and a parameter setting screen numerically displaying the position and orientation data. When a changing a part of the position and orientation data are performed through the operating input unit, the part of the position and orientation data is changed according to the content of the operation and input. Position and orientation is calculated to identify the position or orientation of each part of the robot, based on the changed part of the position and orientation data, and new position and orientation data is calculated based on the position and orientation calculation. The content of virtual display on the virtual environment screen or numeric value display on the parameter setting screen of the displaying apparatus is updated, based on the changed part of position and orientation data, and the new position and orientation data.