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Method for optimizing duty cycle in robotic system

A robot system, work cycle technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as non-optimal work cycles

Active Publication Date: 2021-08-06
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, the work area division is not part of the optimization problem, and if the operator fails to choose the optimal work area division for a given layout, the resulting duty cycle may not be optimal either

Method used

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  • Method for optimizing duty cycle in robotic system
  • Method for optimizing duty cycle in robotic system
  • Method for optimizing duty cycle in robotic system

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Embodiment Construction

[0023] In the context of this disclosure, "cycle time" may refer to the time required for a robotic system to perform a task sequence once. However, due to the periodic nature of work cycles, subsequent work cycles may start before the previous work cycle is ready. Thus, the term "cycle time" may also refer to the average time required for a robotic system to perform a task sequence when performing a (mass) sequence of tasks.

[0024] refer to figure 2 , given a layout with figure 1 The same in , and the overall task is the same (fit the three parts together at the fixture). However, the working area division differs in that the first feeder and the second feeder are assigned to the first manipulator, and only the third feeder is assigned to the second manipulator. suppose to pass figure 2 A division of the working area can be achieved than by figure 1 The work area division of the shorter cycle time, then the optimization problem is restricted to according to figure 1...

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Abstract

A method for a robotic system having at least two manipulators with a common working area, wherein a layout of the robotic system is defined and the joint working between the at least two manipulators is divided Areas are thus obtained for working area divisions. The method is characterized in that at least one of the preceding steps is repeated to thereby obtain a plurality of different combinations of layout and working area division. For each of the combinations, the cycle time of at least one duty cycle is calculated and an optimal cycle time is selected to optimize the duty cycle of the robotic system.

Description

technical field [0001] The invention relates to duty cycle optimization in robotic systems having two or more manipulators with a common work area. Background technique [0002] refer to figure 1 , in the context of the present disclosure, "maximum working area" 10, 20 refers to the volume achievable by a manipulator 30, 40, which volume is constrained by the mechanical structure of the respective manipulator. A "common work area" 50 refers to a portion of the maximum work area accessible to each of the plurality of manipulators, the corresponding volume being dependent on the relative positions of the manipulators and constrained by the manipulator's mechanical structure. By "dedicated working area" is meant the part of the maximum working area that only the corresponding manipulator can reach, ie the private working area is the result of subtracting the common working area from the maximum working area. "Assigned working area" 60 , 70 means a part of the common working a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G05B19/042G05B19/418
CPCB25J9/1605B25J9/1682G05B19/0426G05B19/41885G05B2219/31054G05B2219/32085G05B2219/40417Y02P90/02
Inventor J·韦森F·克努塔
Owner ABB (SCHWEIZ) AG
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