Virtual Robot Pose Programming With Interactive IK Animation
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Solution Overview
Problem
Robot programming requires extensive manual effort, even with computer simulations, to specify precise movements and poses for robots to perform tasks effectively, which is time-consuming and inefficient.
Innovation Solution
The system provides an interactive user interface allowing developers to easily generate control instructions for robots by defining target end effector poses through click-and-drag inputs, using visually enhanced animations and inverse kinematics solvers to calculate joint parameters, reducing manual programming and enhancing user experience.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional manual programming methods are used to specify robot poses, then programming precision can be achieved, but the programming time and complexity increase significantly
Solution Approach 1:
The system creates a virtual copy of the robot and its workspace in a simulated environment. Developers can program the virtual robot to perform tasks, and the programmed actions are then transferred to the physical robot. This copying approach allows precise pose specification in the virtual environment without requiring time-consuming manual programming of the physical robot, resolving the contradiction between precision and time consumption.
Solution Approach 2:
The system replaces traditional mechanical teaching pendants and manual coordinate calculation methods with a computer-based graphical interface. The interface automatically calculates robot poses and generates control instructions through visual manipulation, substituting manual mechanical programming operations with automated computational processes. This reduces programming time while maintaining precision through algorithmic calculations.
2Manufacturing precision
If detailed manual programming is performed to control robot movements, then task accuracy improves, but the ease of operation deteriorates
Solution Approach 1:
The system introduces a virtual robot model and graphical user interface as intermediaries between the developer and the physical robot. The developer programs the virtual robot using intuitive visual operations, and the system automatically translates these high-level commands into precise low-level control instructions for the physical robot. This intermediary layer simplifies the programming interface while ensuring accurate task execution through automated coordinate transformations and motion planning.
Solution Approach 2:
By programming a virtual copy of the robot in a simulated environment, the system allows developers to work with simplified visual representations rather than complex mechanical systems. The virtual model captures the essential kinematics and workspace geometry, enabling accurate task programming through intuitive graphical operations without requiring deep understanding of the physical robot's mechanical complexities.
3Reliability
If comprehensive pose data is generated for robot control, then task performance reliability improves, but the device complexity increases
Solution Approach 1:
The system enables the virtual robot model to automatically generate its own control instructions and pose data during the programming process. When the developer defines task objectives in the graphical interface, the system's inverse kinematics solvers and motion planning algorithms automatically compute the necessary joint angles and trajectory points. This self-service approach ensures comprehensive pose data for reliable task execution without requiring the developer to manually manage complex programming parameters.
Solution Approach 2:
The system replaces complex manual pose calculation and coordinate transformation processes with automated computational algorithms. The software automatically performs inverse kinematics calculations, coordinate system transformations, and generates complete motion trajectories, substituting what would otherwise require complex manual programming procedures. This automation maintains task performance reliability through accurate calculations while reducing the perceived complexity for the user.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot programming. One of the methods comprises generating an interactive user interface that includes an illustration of a first virtual robot, the first virtual robot having an initial pose that defines respective joint angles of one or more joints of the first virtual robot; receiving user input data specifying a target pose of the first virtual robot; and generating an animation of the first virtual robot transitioning between the initial pose and the target pose.