Robot Teaching for Singular Target Reaching With Joint-Value Assignment
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Solution Overview
Problem
Existing techniques for teaching industrial robots to reach target locations with singularities are cumbersome, error-prone, and result in inconsistent solutions, leading to incorrect simulation results and avoided use of such targets in robotic programs.
Innovation Solution
A method that checks if a target location is singular, and if so, associates a specific joint-values solution to ensure consistent and repetitive robotic movements, enabling safe use of singular targets in both virtual and physical robotic programs by automatically identifying and managing problematic joint values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional robot teaching techniques are used for singular target locations, then the robot can reach the target, but the solution becomes inconsistent and error-prone due to multiple possible joint value series
Solution Approach 1:
The system performs preliminary detection of singularities before executing robot teaching. By checking if a target location is singular in advance and preparing appropriate joint value series beforehand, the system avoids the inconsistency problem that would occur during actual robot execution, thereby improving reliability without adding operational complexity
Solution Approach 2:
The patent introduces an intermediary software layer between the robot controller and the teaching process. This intermediary automatically detects singularities, selects appropriate joint value series, and manages the teaching data, thereby resolving the inconsistency issue while keeping the user interface simple and the teaching process straightforward
2Reliability
If singularity detection and management is implemented, then consistency and reliability of robotic programs are improved, but the complexity of the teaching system increases
Solution Approach 1:
The teaching system performs self-service by automatically detecting singularities and selecting appropriate joint value series without requiring manual intervention from the operator. The system self-manages the complexity of singularity handling internally while presenting a simple interface to the user, thereby improving predictability without increasing perceived system complexity
Solution Approach 2:
The system implements feedback mechanisms where the software continuously monitors robot positions, detects when singularities are approached or reached, and automatically adjusts the joint value series accordingly. This closed-loop feedback ensures consistent and predictable robot behavior while keeping the teaching system manageable through automated control
Data Source
AI summary
Systems and a method for teaching a robot in reaching a given target location. The system and method include receiving inputs on a representation of a given target location to be reached by the robot. A check is made whether the given target location is singular. If the given target location is non-singular, the teaching of the robot is effected by associating with the given target location a selected configuration. If the given target is singular, the teaching of the robot is effected by associating with the given target location an assigned joint-values solution.