Robot Workpiece Position Correction for Different Worker Physiques
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Solution Overview
Problem
Existing robot systems require extensive reteaching when workers with different heights and physique perform assembly tasks, leading to increased burden and inefficiency.
Innovation Solution
A robot system that includes a controller capable of adjusting the position and orientation of a workpiece based on the physique information of the actual worker, using a physique-information acquisition unit, storage unit, and program correction unit to adapt the motion program taught by a reference worker to suit the actual worker's height, thereby reducing the need for reteaching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot is taught motion programs for each worker individually, then the workpiece can be disposed at suitable positions for each worker, but the teaching time and system complexity increase significantly
Solution Approach 1:
The system performs preliminary action by teaching the motion program only once using a reference worker's physique information. The physique information storage unit stores reference data in advance, and the program correction unit automatically adapts this pre-taught program to suit different workers based on their measured physique, eliminating the need for repeated teaching processes.
Solution Approach 2:
The system changes parameters by adjusting the motion program parameters (position, orientation) based on the actual worker's physique information compared to the reference worker. The program correction unit modifies taught point coordinates proportionally to the physique difference ratio, allowing the same base program to adapt to different workers without reteaching.
2Ease of operation
If the robot is taught motion programs for each worker individually, then the workpiece can be disposed at suitable positions for each worker, but the system complexity increases
Solution Approach 1:
The system achieves universality by creating a single motion program that serves all workers through automatic adaptation. The program storage unit stores one universal program, and the program correction unit makes it universally applicable to different workers by adjusting parameters based on their physique information, eliminating the need for multiple separate programs.
Solution Approach 2:
The system uses an intermediary approach by introducing physique information as a mediator between the robot and different workers. Instead of directly teaching each worker individually (complex), the system measures worker physique, compares it with reference data, and uses this intermediate information to automatically correct the motion program, simplifying the overall system architecture.
3Productivity
If the motion program is corrected based on worker physique information, then different workers can perform tasks without reteaching, but additional measurement and processing functions are required
Solution Approach 1:
The system implements self-service by enabling workers to independently obtain suitable motion programs through automatic physique-based correction. When a worker operates the robot, the system automatically measures their physique, compares it with stored reference data, and corrects the motion program without requiring external teaching intervention, allowing the system to serve different workers autonomously.
Data Source
AI summary
A robot system including a robot configured to grip and carry a workpiece, and a controller configured to control the robot, wherein the controller includes a physique-information acquisition unit that acquires physique information of an actual worker who performs work on the workpiece cooperatively with the robot, a physique-information storage unit configured to store physique information of a reference worker, a program storage unit configured to store a motion program including one or more taught points for disposing the workpiece at a position and orientation suitable for the work performed by the reference worker, and a program correction unit that perform correction on the taught points of the motion program stored in the program storage unit based on the physique information of the actual worker acquired by the physique-information acquisition unit and the physique information of the reference worker stored in the physique-information storage unit.