VR Robot Teaching for Accurate Non-Contact Tool Path Points
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Solution Overview
Problem
Existing teaching systems for robots struggle to generate accurate teaching points, especially when the workpiece is separated from the fingers, making it difficult to teach motions effectively.
Innovation Solution
A teaching system that includes a teaching point generator, an operator, an image generator, and a display, which creates a virtual image of a robot performing tasks in a virtual space, allowing users to generate teaching points by moving a virtual tool relative to a virtual workpiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a teaching apparatus extracts movement path from camera images and converts to robot movement path, then the teaching can be performed, but it is hardly applicable to teaching of motion in which the workpiece is separated from the fingers
Solution Approach 1:
The patent creates a virtual copy of the robot system including virtual robot, virtual workpiece, and virtual camera in a virtual space. This virtual model replicates the real robot's structure and movement characteristics, allowing teaching to be performed in the virtual environment and then transferred to the real robot, thereby solving the limitation of existing teaching apparatus that cannot handle separated workpiece-finger motions
Solution Approach 2:
The patent introduces a teaching point generation unit that acts as an intermediary between the virtual camera's extracted movement path and the real robot's execution. This unit converts the virtual movement path into appropriate teaching points for the real robot, enabling accurate reproduction of complex motions including cases where the workpiece is separated from the fingers
2Ease of operation
If existing teaching methods are used, then simple contact motions can be taught, but it is difficult to appropriately generate teaching of the robot for complex separated motions
Solution Approach 1:
The patent replaces the traditional mechanical teaching approach (direct physical manipulation and camera-based path extraction) with a virtual reality-based teaching system. By substituting the physical teaching process with virtual space operations, the system maintains ease of operation while achieving high precision in teaching point generation for complex separated motions
Solution Approach 2:
The patent changes the parameter space from physical real-world coordinates to virtual space coordinates. By performing teaching operations in the virtual space and then transforming these parameters to real robot coordinates, the system achieves both ease of operation and high precision for complex motion teaching
Data Source
AI summary
A teaching system includes: a teaching point generator that generates a teaching point of a robot including an end effector that performs a treatment on a workpiece in a non-contact manner; an operator that is operated by a user; an image generator that generates a VR image in which a virtual end effector corresponding to the end effector and a first virtual workpiece corresponding to the workpiece are placed in a space; and a display that displays the VR image. The image generator generates the VR image in which the virtual end effector moves in accordance with an operation to the operator and performs a treatment on the first virtual workpiece. The teaching point generator generates a teaching point based on a position of the virtual end effector generated by the image generator in the VR space.