Wearable Display Guidance for Industrial Robot Direct Teaching
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Solution Overview
Problem
Direct teaching of industrial robots is hindered by the difficulty in accurately determining the position and posture of the robot relative to a reference object, especially when the worker's visual field is obstructed, leading to impaired performance and increased risk of collision with peripheral equipment.
Innovation Solution
A teaching apparatus that includes a wearable display to show state information indicating the robot's position and posture relative to a reference object, acquired through position and posture data, allowing the worker to intuitively understand the robot's position and posture without relying solely on visual cues, thus enabling easier and more precise teaching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If direct teaching is performed by manually operating the robot, then the robot can be taught behaviors flexibly, but it is difficult to accurately determine the position and posture of the robot relative to the reference object
Solution Approach 1:
The patent applies feedback by displaying state information (position and posture data) of the robot relative to the reference object on a wearable display device. This provides real-time visual feedback to the worker during direct teaching, enabling accurate determination of robot position and posture while maintaining the flexibility of manual operation. The feedback loop allows the worker to see the robot's state and make precise adjustments without relying solely on visual observation.
Solution Approach 2:
The patent introduces an intermediary system consisting of the wearable display and the state information display mechanism. This intermediary translates the robot's position and posture data into visually perceivable information, bridging the gap between the robot's actual state and the worker's perception. The wearable display acts as a mediator that delivers precise positional information directly to the worker's visual field, solving the problem of inaccurate position determination during direct teaching.
2Area of stationary object
If the worker's eye position is higher than the placement surface, then the worker can observe the overall scene, but it becomes difficult to find the distance between the workpiece and the placement surface or detect wrist tilting
Solution Approach 1:
The patent applies the dimensionality change principle by transitioning from two-dimensional visual observation to three-dimensional spatial information presentation. The wearable display presents state information that includes positional relationships in multiple dimensions (distance, height, tilting angles) directly to the worker. This allows the worker to understand the robot's position and posture relative to the reference object in three-dimensional space without being constrained by the limited perspective from a higher eye position.
3Measurement precision
If fine teaching is performed to precisely determine positions, then accurate position and posture can be achieved, but the benefits of using direct teaching are greatly reduced
Solution Approach 1:
The patent resolves this contradiction by implementing real-time feedback through the wearable display that shows the robot's state information during direct teaching. This continuous feedback allows the worker to make quick, informed adjustments without performing time-consuming fine teaching operations. The worker can achieve accurate position and posture determination through intuitive manual operation guided by visual feedback, thereby maintaining both precision and the productivity benefits of direct teaching.
Data Source
AI summary
There is provided a teaching apparatus that teaches a robot, in particular an industrial robot, a task by direct teaching. The teaching apparatus includes a wearable display that displays information in a worker's visual field, an acquisition section that acquires position and posture data capable of specifying a position and a posture of an industrial robot, and a production section that produces information to be displayed on the wearable display. When a worker operates the robot using the teaching apparatus, the apparatus produces state information that indicates at least one of a position and a posture of the robot relative to a reference object located around the robot, based on position and posture data as acquired and displays the produced information on the wearable display. There is also provided a teaching method having teaching functions equivalent to those of the apparatus.