Robot Trajectory Transformation for Non-Expert Task Reprogramming
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Solution Overview
Problem
Conventional robot programming is laborious and requires significant rework when changes occur in the work environment or task, as users need to re-implement entire tasks, which is time-consuming and costly, especially for non-expert users without programming skills.
Innovation Solution
A system comprising a translator and a transformer that allows users to provide high-level descriptions of modifications to existing robot trajectories, translating these into applicable transformations for updating the trajectories without requiring specialized programming expertise, enabling non-expert users to modify robot tasks intuitively and efficiently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional robot programming methods are used, then the robot can execute tasks with high precision, but the programming process becomes laborious and time-consuming when changes are required
Solution Approach 1:
The system records the operator's natural movements and actions as they perform the task manually. This preliminary capture of motion data creates a foundation trajectory that can be later transformed and adapted, eliminating the need to program from scratch when changes are needed.
Solution Approach 2:
The system allows transformation of the recorded trajectory by changing parameters such as start position, target position, speed, and timing. By modifying these parameters, the same base trajectory can adapt to different task requirements, reducing reprogramming time while maintaining precision.
2Manufacturing precision
If expert engineers use specialized programming software to program robots, then the robot trajectory can be precisely controlled, but the process requires significant expertise and cannot be easily performed by non-expert users
Solution Approach 1:
The system enables non-expert users to program the robot themselves by simply demonstrating the desired task through natural movement. The operator's own actions become the program, eliminating the need for specialized programming knowledge while the system handles the complex trajectory generation and control automatically.
Solution Approach 2:
The system replaces complex programming software and expert knowledge with a motion capture and transformation system. Instead of requiring users to write code or configure parameters in specialized software, the system captures physical movements and automatically translates them into robot trajectories, making the process accessible to anyone regardless of programming expertise.
3Adaptability or versatility
If the work environment or task changes frequently, then the robot must be reprogrammed each time, but this increases the initial time investment and reduces economic efficiency
Solution Approach 1:
The system creates a library of recorded trajectories that serve as reusable templates. When the task changes, the system can select from existing recorded trajectories or combine them, rather than requiring complete reprogramming. This preliminary capture of multiple potential trajectories enables quick adaptation to changing requirements.
Solution Approach 2:
The system dynamically transforms recorded trajectories based on the specific task requirements. Instead of static, fixed programs, the system can adapt existing trajectories through transformation operations, allowing the same base recordings to serve multiple purposes and reducing the need for frequent reprogramming when tasks change.
Data Source
Figure 1
AI summary
A method and system are provided for programming robots by users without expertise in specialized robot programming languages. In the method, a high-level description is provided by the user to a translator. The translator translates the description into a transformation. A transformer applies the transformation to an existing robot trajectory in order to provide an updated robot trajectory. The updated robot trajectory is then used to operate the robot.