Virtual Robot Teaching Interface for Real-Time Pose Correction
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Solution Overview
Problem
Current methods for teaching robot operations, especially in complex tasks like palletizing, face challenges with error handling and trajectory calculation, as they lack efficient mechanisms to identify affected position and orientation data ranges and perform real-time error checking, leading to increased man-hours and errors.
Innovation Solution
An information processing method and apparatus that utilize a virtual environment for displaying robot positions and orientations, allowing real-time input, editing, and correction of position and orientation data, with a hierarchic data structure for storing and managing multiple position and orientation data points, enabling immediate identification of affected data ranges and error checking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual teaching operations are performed for each teaching point in complex robot operations like palletizing, then the robot operation can be programmed, but the man-hour for teaching increases significantly and teaching errors increase
Solution Approach 1:
The system performs preliminary actions by automatically calculating relative movement amounts and setting offset values before actual robot execution. Teaching points are pre-programmed with reference to a base position, and the system pre-calculates trajectories and checks for interference with surrounding objects, eliminating the need for manual adjustment during execution.
Solution Approach 2:
The patent replaces manual mechanical teaching operations with automated computer-based calculations. The system uses coordinate transformation mathematics and algorithmic trajectory generation to substitute the manual process of moving the robot to each teaching point and recording positions, thereby reducing teaching time and errors.
2Device complexity
If offset values are set for multiple works in palletizing operations, then teaching complexity is reduced, but calculation and setting errors increase due to matrix calculation requirements
Solution Approach 1:
The system performs self-service by automatically calculating offset values and trajectory parameters without requiring manual matrix calculations. The computer system autonomously computes the relative movement amounts between teaching points and generates the necessary coordinate transformations, eliminating human error in calculation and setting.
Solution Approach 2:
The system incorporates feedback mechanisms to verify calculated offset values and trajectory parameters. The computer checks whether calculated positions and orientations are within the robot's movable range and detects potential interference with surrounding objects, providing validation feedback to ensure calculation accuracy.
3Adaptability or versatility
If position and orientation data are changed during teaching, then adaptability is improved, but error handling becomes difficult without real-time verification
Solution Approach 1:
The system provides real-time feedback when position and orientation data are modified. Upon changing teaching point parameters, the computer automatically recalculates trajectories, checks for interference with surrounding objects, and verifies whether the robot can reach the new positions, providing immediate error detection and validation.
Solution Approach 2:
The system performs preliminary verification of modified data before execution. When teaching point parameters are changed, the system pre-calculates the impact on trajectories and checks for potential errors such as interference with surrounding objects or positions outside the robot's movable range, preventing errors before they occur.
4Ease of operation
If offline teaching is performed without actual robot connection, then teaching flexibility is improved, but confirmation of actual robot operation becomes difficult
Solution Approach 1:
The system creates a virtual copy of the robot and its environment for offline teaching. The computer generates a virtual model that replicates the robot's structure, workspace, and surrounding objects, allowing teaching operations to be performed and verified in this virtual environment without physical robot connection, while maintaining accuracy through precise mathematical modeling.
Data Source
AI summary
A displaying apparatus includes a virtual environment screen displaying a state of a robot identified, and a parameter setting screen numerically displaying the position and orientation data. When a changing a part of the position and orientation data are performed through the operating input unit, the part of the position and orientation data is changed according to the content of the operation and input. Position and orientation is calculated to identify the position or orientation of each part of the robot, based on the changed part of the position and orientation data, and new position and orientation data is calculated based on the position and orientation calculation. The content of virtual display on the virtual environment screen or numeric value display on the parameter setting screen of the displaying apparatus is updated, based on the changed part of position and orientation data, and the new position and orientation data.