Robot Teaching Interface for Real-Time Trajectory Error Checking
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Solution Overview
Problem
Conventional methods for teaching robot operations, especially in complex tasks like palletizing, face challenges with error handling and trajectory calculation, as they lack efficient mechanisms to identify affected position and orientation data ranges and perform real-time error checking, leading to increased man-hours and errors.
Innovation Solution
The proposed solution involves an information processing method and apparatus that store position and orientation data in a hierarchic structure, allowing immediate identification of affected data ranges and enabling real-time error checking during input, editing, or correction, using a virtual display and numeric value representation, and allowing selection among multiple robot coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual teaching operations are performed for all teaching points in complex robot operations like palletizing, then the robot operation can be accurately programmed, but the man-hour for teaching increases significantly
Solution Approach 1:
The system performs preliminary error detection and validation of position and orientation data before actual robot execution. By checking trajectory feasibility and detecting potential errors in advance through virtual simulation and data validation, rework and adjustments during actual operation are minimized, thereby reducing total teaching time while maintaining accuracy
Solution Approach 2:
The patent replaces manual mechanical teaching operations with automated computer-based validation and error detection systems. The system automatically checks position and orientation data for consistency, validates trajectory feasibility, and detects potential errors without requiring manual intervention for each teaching point, significantly reducing teaching man-hours while maintaining programming accuracy
2Ease of operation
If offset teaching method is used to reduce teaching operations, then the teaching complexity decreases, but calculation errors and setting errors increase
Solution Approach 1:
The system implements automated feedback mechanisms that validate offset calculations and setting parameters. The error detection unit automatically checks whether offset-based position and orientation data are consistent and feasible, providing immediate feedback on calculation errors without requiring manual verification, thus maintaining reliability while simplifying operations
Solution Approach 2:
The system performs self-validation of teaching data through automated error detection and consistency checking. The validation unit automatically detects potential errors in offset calculations and setting parameters without external intervention, enabling the system to self-correct or flag issues, thereby maintaining accuracy while reducing operational complexity
3Adaptability or versatility
If offline teaching is performed without actual robot connection, then teaching flexibility increases, but the ability to confirm actual robot operation is lost
Solution Approach 1:
The system creates a virtual copy of the robot and its operating environment for offline teaching and validation. The virtual simulation model replicates robot kinematics, workspace limits, and trajectory characteristics, allowing comprehensive error detection and validation without physical robot connection. This virtual copy enables both teaching flexibility and operational confirmation capability simultaneously
Data Source
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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.