Robot Teaching Position Correction via Displacement Calculation
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Solution Overview
Problem
Existing methods for correcting teaching positions in robot operation programs are time-consuming and lack precision, especially when posture changes are significant, and require manual touch-up operations or accurate visual setting of tool positions.
Innovation Solution
A teaching position correcting apparatus and method that calculates a position correction amount for each teaching point, allowing for automatic correction of multiple points based on a few accurately set positions, reducing the need for manual touch-ups and improving precision by recalculating correction amounts iteratively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual touch-up operations are performed at multiple teaching points, then correction precision can be improved, but correction time increases significantly
Solution Approach 1:
The system performs preliminary automatic correction of teaching point positions based on displacement amounts calculated from workpiece image recognition, before manual touch-up operations are performed. This preliminary action reduces the magnitude of subsequent manual corrections needed, thereby improving overall correction precision while reducing total correction time.
Solution Approach 2:
The system introduces an intermediary automatic correction process that acts as a bridge between offline programming and manual touch-up operations. This intermediary step calculates displacement amounts from image recognition and applies automatic position corrections, reducing the burden on manual operations and improving overall system efficiency.
2Measurement precision
If accurate visual setting of tool positions is required, then correction precision is maintained, but operation complexity increases
Solution Approach 1:
The system replaces manual visual setting and mechanical positioning with automatic image recognition and computational processing. The workpiece recognition unit captures images and calculates displacement amounts automatically, eliminating the need for operators to perform complex visual measurements and manual position calculations.
Solution Approach 2:
The system performs self-correction by automatically calculating displacement amounts from workpiece image recognition and applying position corrections to teaching points without requiring manual intervention for each teaching point. The robot controller autonomously processes the correction based on recognized workpiece positions.
3Productivity
If offline programming is used to prepare operation programs, then programming efficiency is improved, but field correction becomes necessary when position changes occur
Solution Approach 1:
The system implements feedback by recognizing the actual workpiece position in the field, calculating displacement amounts between offline programming positions and actual positions, and using this feedback information to automatically correct teaching point positions. This closed-loop approach maintains the benefits of offline programming while adapting to field conditions.
Solution Approach 2:
The system dynamically adjusts teaching point positions based on actual workpiece positions detected in the field. Rather than using static offline programming data alone, the system continuously adapts positions based on real-time image recognition and displacement calculations, enabling flexible field correction.
Data Source
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AI summary
A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction. Based on the above operation, even when a posture change of the robot is large, teaching point positions in the operation program can be corrected accurately in short time.