Robot Teaching Interface for Real-Time Pose Correction
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Solution Overview
Problem
Conventional methods for teaching robots, especially in complex operations like palletizing, face challenges with increased man-hours and errors due to complex calculations and lack of real-time error handling in trajectory calculations, particularly when using offset inputs in multiple coordinate systems.
Innovation Solution
An information processing method and apparatus that utilize a virtual environment for displaying robot positions and orientations, allowing real-time input, editing, and correction of position and orientation data, with a hierarchic data structure for storing and managing position and orientation data, enabling immediate identification of affected data ranges and error checking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual teaching operations are performed for each teaching point in complex robot operations like palletizing, then the robot can perform the operation, but the man-hour for teaching increases significantly and teaching errors increase
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing teaching points in a database before actual robot operation. Instead of manually teaching each point during operation, the system pre-computes the trajectory and teaching points based on robot specifications and operation parameters, then stores them for direct execution. This eliminates time-consuming manual teaching while maintaining accuracy through systematic pre-planning.
Solution Approach 2:
The patent uses copying by storing teaching point data in a database that can be reused across multiple operations. Once teaching points are established for a particular operation type, the data is copied and applied to similar operations, eliminating the need to re-teach the same points repeatedly. This significantly reduces teaching time while maintaining consistency and accuracy.
2Productivity
If offset teaching method is used to reduce teaching operations, then the number of teaching points decreases, but calculation errors increase due to matrix calculation requirements
Solution Approach 1:
The patent replaces manual matrix calculation with automated computer-based calculation. The system uses software to perform the offset calculations and trajectory computations, eliminating human error in matrix operations. The computer automatically handles the complex mathematics required for offset teaching, maintaining high precision while improving efficiency through automation.
Solution Approach 2:
The patent introduces a database as an intermediary between the teaching operation and the robot execution. The database stores pre-calculated teaching points and offset data, serving as a mediator that separates the calculation phase from the execution phase. This allows accurate calculations to be performed once and stored, then reused without repeated calculation errors, while maintaining the benefits of offset teaching.
3Ease of operation
If offline teaching is performed without actual connection to robot apparatus, then teaching can be performed independently, but error detection and correction become difficult
Solution Approach 1:
The patent implements feedback by loading the teaching data back into the robot control system for verification. After offline teaching and database storage, the system transfers the teaching points to the robot controller and performs validation checks to ensure the data is correct and complete. This feedback loop allows error detection and correction while maintaining the independence benefit of offline teaching.
Solution Approach 2:
The patent applies preliminary action by performing error checking and validation before actual robot execution. The system validates teaching data, checks for calculation errors, and verifies trajectory feasibility in advance, before the robot performs the actual operation. This preliminary verification maintains teaching independence while ensuring error-free execution.
Data Source
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.