Robot Teaching Position Capture After Servo-Off Release
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Solution Overview
Problem
Current robot teaching methods require workers to continuously hold down an enable switch to maintain servo power, leading to increased worker burden and potential errors due to changes in the robot's position or attitude when servo power is turned OFF prematurely.
Innovation Solution
A method and apparatus that continuously detect the robot's position and attitude while in a teaching mode with servo control ON, and store the last detected position and attitude as the teaching position and attitude when a teaching instruction is received, even if servo control is switched OFF.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the worker releases the enable switch to reduce burden, then the worker burden is reduced, but the robot position or attitude changes under its own weight
Solution Approach 1:
The system performs preliminary detection of the robot's position and attitude while servo control is ON, storing this information before the worker releases the enable switch. This preliminary data capture ensures that the teaching position is recorded at the correct moment, resolving the contradiction between reducing worker burden and maintaining position accuracy.
2Reliability
If the worker holds down the enable switch continuously to maintain servo power, then the robot position accuracy is maintained, but the worker burden increases
Solution Approach 1:
The system uses the robot's own detection capabilities to automatically track and store its position and attitude information. This self-service mechanism eliminates the need for the worker to continuously monitor and maintain servo power, reducing worker burden while ensuring accurate teaching position recording.
3Use of energy by moving object
If the servo control is turned OFF before teaching instruction, then power consumption is reduced, but the teaching position becomes inaccurate
Solution Approach 1:
The system performs preliminary detection and storage of the robot's position and attitude while servo control is still ON, capturing the accurate teaching position before power is reduced. This preliminary action ensures that teaching accuracy is preserved even when servo control is subsequently turned OFF for power saving.
Data Source
AI summary
A robot teaching control method includes continuing to detect a position or an attitude of a robot while servo control of the robot is an ON state in a teaching mode for teaching of the robot, and, when receiving a teaching instruction after the servo control is switched from ON to OFF, storing last detected the position or the attitude as a teaching position or a teaching attitude. Further, the position or the attitude is detected at predetermined intervals.