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Method and system for determining a sequence of kinematic chains of a multiple robot

A multi-robot and kinematic chain technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as unsuitable complex robots

Active Publication Date: 2019-08-06
SIEMENS IND SOFTWARE GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] However, such techniques target robotic scenarios with only a single kinematic chain, and are not suitable for robots with two or more kinematic chains where the complexity is higher

Method used

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  • Method and system for determining a sequence of kinematic chains of a multiple robot
  • Method and system for determining a sequence of kinematic chains of a multiple robot
  • Method and system for determining a sequence of kinematic chains of a multiple robot

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Embodiment Construction

[0019] In this patent document, the following discussed Figure 1 to Figure 5 And the various embodiments used to describe the principles of the disclosure are by way of illustration only and should not be construed in any way as limiting the scope of the disclosure. Those skilled in the art will understand that the principles of the present disclosure may be implemented in any suitably arranged device. The various novel teachings of the present application will be described with reference to exemplary, non-limiting embodiments.

[0020] Previous techniques based on manual "trial-and-error" approaches for multi-robots are cumbersome, tedious, error-prone, and otherwise ill-suited for the task.

[0021] Previous techniques for multi-robots based on local methods searching for an optimal configuration from each positional viewpoint are suboptimal and lead to redundant motions of joints as the robot workload increases.

[0022] Embodiments determine the optimal motion sequence ...

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Abstract

Systems and a method for determining a sequence of kinematic chains of a multiple robot along a sequence of locations are provided. Inputs on the locations to be reached by a robot tool are received.Each chain is considered separately by setting one chain in use and determining, for each chain in use, available configurations for each location. The available configurations are represented as nodes of a graph representing available robotic paths for reaching with a tool the locations, while allowing the switching among different chains within the same robotic path. Valid connectors are determined by simulating collision free robot trajectories while taking into account working modality constraints of the locations. Weight factors are assigned to connectors to represent robot efforts in moving between subsequent configurations. The shortest robotic path among valid paths is determined by taking into account the weight factors. The sequence of chains is determined from the shortest path.

Description

technical field [0001] The present disclosure generally relates to computer-aided design, visualization, and manufacturing ("CAD") systems, product lifecycle management ("PLM") systems, product data management ("PDM") systems that manage data for products and other items and similar systems (collectively referred to as "Product Data Management" systems or PDM systems). More specifically, the present disclosure relates to production environment simulation. Background technique [0002] Today, industrial robots are mostly single-armed robots. A typical single-arm robot has multiple joints (eg six or more joints) but only a single kinematic chain. On the kinematic chain of the robot, usually at the end of the kinematic chain of the robot, the industrial tools for performing the robot's tasks are mounted. Examples of robotic tasks performed by the tool include, but are not limited to, welding, spot welding, arc welding, painting, coating, drilling and riveting, laser cutting,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1661B25J9/1666B25J9/1682G05B2219/39135G05B2219/40254G05B2219/40417G05B2219/40432G05B2219/40446G05B2219/40448G05B2219/40463G05B19/402
Inventor 摩西·豪赞
Owner SIEMENS IND SOFTWARE GMBH
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