Robotic Programming With Virtual Force Feedback for Teach-In
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Solution Overview
Problem
Current robotic programming techniques, such as teach-in and offline programming, face challenges with teach-in requiring physical objects and causing downtime, and offline programming needing complex simulations and advanced skills, while lacking force feedback during virtual object interaction.
Innovation Solution
A system that sets up data models for robots and virtual objects, allowing users to feel force feedback during programming by calculating and feeding back parameters of forces experienced by virtual objects, enabling intuitive and efficient programming without the need for physical objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If teach-in techniques are used to program a robot by moving it to desired positions and recording data, then the robot can be easily programmed according to real installation and objects are directly interacted with, but the objects need to be available for programming which may be very difficult or impossible for large objects and there is downtime of the robot during programming
Solution Approach 1:
The patent creates a digital twin (virtual copy) of the physical robot and its environment in a simulation environment. This digital twin can be programmed without the physical robot being present, eliminating downtime. The virtual model accurately replicates the physical robot's kinematics, dynamics, and sensor characteristics, allowing realistic programming and testing before deployment.
Solution Approach 2:
The patent enables programming to be performed in advance in the simulation environment before the physical robot is commissioned. All programming, testing, and validation can be completed preliminarily in virtual space, so that when the physical robot is deployed, it can immediately execute the pre-programmed tasks without requiring on-site programming downtime.
2Loss of time
If offline programming is used to program a robot in a simulation environment, then programming can be done prior to commissioning and no downtime of the robot during programming, but the complete surrounding of the robot needs to be accurately mapped into the simulation environment and it requires user to have advanced programming skills
Solution Approach 1:
The patent automatically generates the digital twin by copying data from the physical robot's controller, including kinematic parameters, dynamic models, and sensor characteristics. This automated copying process simplifies the creation of the simulation environment, reducing the complexity that would otherwise require manual modeling of the complete robot surrounding.
Solution Approach 2:
The patent implements bidirectional communication between the simulation environment and the physical robot. The simulation receives real-time state data from the physical robot and feeds back control commands to it. This feedback mechanism simplifies the simulation setup by using actual robot data rather than requiring manual modeling of all robot parameters.
3Adaptability or versatility
If offline programming is used to program a robot in a simulation environment, then programs can easily be changed and adapted, but it requires user to have advanced programming skills and too much preparation for simple use cases
Solution Approach 1:
The patent copies the physical robot's control interface and programming environment into the simulation, allowing users to interact with the digital twin using the same tools and methods they would use with the physical robot. This familiarity reduces the learning curve and programming skill requirements while maintaining full adaptability.
Solution Approach 2:
The system automatically generates and updates the digital twin based on the physical robot's actual configuration and performance data. This self-updating capability means the simulation environment automatically adapts to changes in the physical robot without requiring manual reconfiguration or advanced programming skills from the user.
4Weight of moving object
If duplicates are used to replace real objects during teach-in, then the weight of the object is reduced and facilitates the teach-in process, but printing large objects is time consuming and expensive and several persons are needed to handle them
Solution Approach 1:
The patent uses a digital copy (virtual model) of the object in the simulation environment instead of physical duplicates. This digital twin of the object can be manipulated freely in the simulation without any physical handling requirements, eliminating the need to print or transport heavy physical duplicates while maintaining all interaction characteristics.
Solution Approach 2:
The patent replaces the physical mechanical interaction between the robot and heavy objects with a virtual simulation of this interaction. The simulation accurately models the physical properties and interactions, allowing the robot to be programmed to handle heavy objects in virtual space without any actual physical handling or printing of duplicates.
Data Source
AI summary
A method, apparatus and a system are disclosed for robotic programming. In at least one embodiment of a method for robotic programming, the method includes receiving, from a controller of a robot, movement parameters reflecting movement of the robot manipulated by a user; making a first data model of a robot move, according to the movement parameters; calculating, upon the first data model touching a second data model of a virtual object, parameters of a first force to be fed back to the user for feeling touch by the robot on a physical object corresponding to the virtual object; and sending the parameters of the first force to the controller of the robot, to drive the robot to feed back the first force to the user.