Cobot Welding Path Interpolation for Intuitive Curved Programming
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Solution Overview
Problem
Existing cobot programming interfaces are not intuitive for novice users and require excessive manual input of points along curved paths, making them time-consuming and prone to errors in welding, additive manufacturing, and cutting operations.
Innovation Solution
A user interface application that automatically interpolates intermediate points along curved paths, allowing users to input only key endpoints, and determines the path using a threshold distance to ensure accuracy and reduce manual input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a proprietary user interface application is used for programming cobot curved paths, then the cobot can be programmed for welding operations, but the programming process becomes time-consuming and non-intuitive requiring excessive manual input of points
Solution Approach 1:
The system performs preliminary calculation of intermediate points based on the curved path defined by three user-input points. The robot controller pre-computes the curved path geometry and automatically generates the intermediate welding points before execution, eliminating the need for users to manually input each point along the curve.
Solution Approach 2:
The system creates a mathematical model (copy) of the curved path based on three user-defined points. This digital representation of the curve allows the controller to automatically generate intermediate points by sampling along the mathematically defined path, rather than requiring manual specification of each point.
2Manufacturing precision
If multiple points are manually input along a curved path to ensure accuracy, then the programming precision improves, but the complexity of the programming process increases
Solution Approach 1:
The robot controller performs self-service by automatically calculating and generating the intermediate points needed for accurate curved path execution. The system uses the three user-input points to define the curve mathematically, then autonomously computes all intermediate welding points, eliminating the burden of manual point specification while maintaining precision.
Solution Approach 2:
The system changes the programming approach from specifying individual point coordinates to defining curve geometry through three key points. This parameter transformation allows the controller to derive all necessary intermediate points through mathematical calculation, reducing programming complexity while maintaining manufacturing precision.
3Ease of operation
If a simplified programming method is used that requires fewer manual inputs, then the ease of operation improves, but the measurement precision of the curved path may deteriorate
Solution Approach 1:
The robot controller performs preliminary mathematical calculation of the curved path geometry based on the three user-input points. By pre-computing the curve definition and generating intermediate points before execution, the system ensures high measurement precision is maintained despite the simplified three-point input method.
Solution Approach 2:
The system provides feedback by automatically generating and displaying the calculated curved path with intermediate points for user verification. This allows operators to confirm the accuracy of the generated path before execution, ensuring measurement precision is maintained while keeping the input process simple.
Data Source
AI summary
A method of programming a curved path for a welding robot includes recording input of a first arc segment endpoint, a first intermediate point, and a second arc segment endpoint along the curved path. The first intermediate point is located between the first and second arc segment endpoints. The curved path is determined from the first and second arc segment endpoints and the first intermediate point. Input of a third arc segment endpoint is recorded. A distance of the third arc segment endpoint to the curved path is determined and compared to a threshold distance. A second intermediate point along the curved path between the second and third arc segment endpoints is automatically interpolated when the distance is less than the threshold distance. The first, second and third arc segment endpoints, and the first and second intermediate points are communicated to a robot controller to program movements of the welding robot.