Robot Teaching Interface for Fine Trajectory Correction
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Solution Overview
Problem
Existing robot teaching devices struggle with fine corrections to robot movement trajectories, as they often require cancellation of entire trajectories to correct improper parts, making precise user-intentioned adjustments difficult.
Innovation Solution
A teaching device and program for robots that include a setter, deriver, display, and corrector, allowing users to set conditions, derive movement trajectories, display them, and make precise corrections according to user input, enabling fine adjustments to robot arm and end effector movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the entire movement trajectory is canceled when part of it is improper, then the robot model movement can be corrected, but fine correction according to user's intention becomes difficult
Solution Approach 1:
The patent divides the movement trajectory into multiple segments or points that can be independently selected and corrected. Users can specify particular start and end points for correction without affecting the entire trajectory, enabling precise local adjustments while maintaining the rest of the movement path.
Solution Approach 2:
The system applies different correction operations to different parts of the movement trajectory. By allowing users to select specific segments for correction and applying corrections only to those portions, the system maintains high quality in corrected areas while preserving the integrity of the overall trajectory.
2Reliability
If the entire movement trajectory is canceled for improper parts, then movement errors can be fixed, but correction efficiency decreases
Solution Approach 1:
The movement trajectory is segmented into correctable units, allowing users to identify and correct only the problematic portions. This segmentation enables faster correction by avoiding the need to rework the entire trajectory, thereby improving correction efficiency while maintaining accuracy.
Solution Approach 2:
Instead of canceling the entire trajectory (excessive action), the system applies corrections only to the necessary portions (partial action). This approach achieves the required accuracy improvement without the time cost of reworking the complete movement path.
3Measurement precision
If movement trajectory correction is made more precise, then user intention can be better realized, but operation complexity increases
Solution Approach 1:
The system creates a visual copy or representation of the movement trajectory on a display device, allowing users to interact with the graphical representation rather than directly manipulating complex numerical parameters. This copying approach enables precise correction through intuitive visual feedback while simplifying the operation interface.
Solution Approach 2:
The display device serves as an intermediary between the user and the movement trajectory correction process. By presenting the trajectory visually and accepting user input through the display interface, the system mediates the complex correction operations, making them more accessible and easier to control precisely.
Data Source
AI summary
A teaching device is a teaching device for a robot including a base, an arm having a plurality of links coupled to each other and coupled to the base, and a hand coupled to the arm. The teaching device includes a setter that sets a predetermined condition including start and end points of the hand in predetermined movement of the arm; a deriver that derives a movement trajectory of the hand from the start point to the end point and a movement trajectory of the arm according to the movement trajectory of the hand based on the predetermined condition; a display that displays at least one of the movement trajectory of the arm or the movement trajectory of the hand, the movement trajectories being derived by the deriver; and a corrector that corrects the movement trajectory displayed on the display according to user's input operation.