Robot Teaching with Variable Base Position for Faster Trajectories
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot teaching devices generate movement trajectories based on pre-defined robot positions, which limits optimality and efficiency in robot movement.
Innovation Solution
A teaching device and program that include a setter and a deriver, allowing the derivation of more-optimal movement trajectories for a robot's arm and end effector by changing the base position and considering start and end points, while ensuring the substrate is not dropped during delivery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the movement trajectory is generated based on pre-defined robot positions, then the teaching process is simplified, but the movement trajectory optimality deteriorates
Solution Approach 1:
The patent applies dynamics by making the base position variable rather than fixed. The deriver changes the position of the base to derive more optimal movement trajectories, transforming the static base position into a dynamic parameter that can be adjusted to optimize movement time while maintaining ease of operation through automated optimization
Solution Approach 2:
The patent changes the parameter of base position from a fixed predetermined value to a variable that can be adjusted. By changing the base position parameter and re-deriving trajectories, the system finds optimal movement paths that reduce movement time while keeping the teaching interface simple
2Device complexity
If the base position is fixed in advance, then the teaching setup is simplified, but the movement trajectory optimality deteriorates
Solution Approach 1:
The system transforms the static base position into a dynamic variable. The deriver automatically adjusts the base position to derive optimal trajectories, maintaining simple teaching setup while reducing movement time through computational optimization
Solution Approach 2:
The deriver performs self-optimization by automatically changing the base position and deriving improved trajectories without requiring complex manual teaching setup. The system serves itself by autonomously optimizing the movement parameters
3Loss of time
If the base position is changed to optimize trajectory, then the movement time is reduced, but the device complexity increases
Solution Approach 1:
The deriver autonomously handles the complexity of trajectory optimization by automatically changing base positions and computing optimal paths. This self-service approach reduces movement time while keeping the user interface simple, as the system manages the computational complexity internally
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, and 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 while changing the position of the base.