Robot Touchscreen Initial Point Selection Using Nominal Posture
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Solution Overview
Problem
Industrial robot commissioning processes are hindered by the need for manual specification of an initial point near the touchscreen, reducing automation and increasing workloads, as the robot lacks knowledge of the touchscreen's position.
Innovation Solution
A method and apparatus that calculate a nominal posture of a work object relative to the industrial robot using inertial sensors, selecting an initial point above the touchscreen based on this posture, a pre-touch point, the touchscreen's center, and a preset height, thereby automating the initial point selection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the initial point is manually specified or predefined by an offline cell model, then the robot can perform commissioning, but the automation of the process is reduced and extra workloads are increased
Solution Approach 1:
The system uses the robot's own vision sensor to automatically detect the touchscreen position and calculate the initial point, eliminating the need for manual specification. The robot independently completes the task of identifying its starting position relative to the touchscreen through self-service mechanisms.
Solution Approach 2:
The vision sensor performs preliminary detection of the touchscreen position before the commissioning process begins. The system pre-calculates the initial point based on the detected touchscreen location, so that when commissioning starts, the robot already has the correct starting position ready, eliminating manual setup time.
2Ease of operation
If the initial point is located near the center point of the touchscreen, then the commissioning can proceed, but the robot does not know where the touchscreen is placed requiring manual specification
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated vision-based detection system. The robot uses its vision sensor to automatically locate the touchscreen and calculate the initial point, substituting the manual mechanical process of specifying coordinates with an automated optical detection and calculation system.
3Reliability
If a stylus clicks on the touchscreen, then commissioning input is provided, but the stylus had better be toughly perpendicular to the touchscreen adding operational constraints
Solution Approach 1:
The system performs preliminary calculation of the nominal posture and initial point before the actual commissioning operation. By pre-calculating the correct approach angle and position based on the detected touchscreen orientation, the system ensures that when the stylus clicks, it is already properly aligned, eliminating the need for manual adjustment during operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach automates the selection of the initial point, increasing the automation of the commissioning process and reducing manual workloads by accurately determining the initial point's location relative to the touchscreen.
Implementation Method 1
calculating a nominal posture of a work object relative to the industrial robot; obtaining a first output when an inertial sensor is at a first posture and a second output when the inertial sensor is at a second posture
Data Source
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AI summary
A method and apparatus for selecting an initial point for industrial robot commissioning are disclosed, the initial point being located above a touchscreen (305) for industrial robot commissioning. The method comprising: calculating a nominal posture of a work object (303) relative to the industrial robot (301) by a nominal posture calculating module; and selecting an initial point according to the nominal posture by an initial point selecting module. The method and apparatus can automatically select the initial point so as to further increase automation of the commissioning process and reduce workloads.