End Effector Path Programming With Local Coordinate Frames
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Solution Overview
Problem
Current programming methods for position-controlled movements in motion-controlled machines are complex and require frequent adjustments due to inaccuracies in CAD models, making it difficult to specify and adapt support points and interpolation points effectively.
Innovation Solution
A method where a programming device accepts local coordinate systems from the user, determines the path for an end effector based on user-input positions and obstacles, and stores this configuration for later retrieval, allowing for intuitive and flexible specification and editing of positions and obstacles, with the option to optimize the path according to predetermined criteria.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a CAD program with a motion-controlled machine model is used to specify support points, then the initial path programming is facilitated, but inaccuracies and simplifications in the model require frequent readjustment and addition of support points
Solution Approach 1:
The patent applies preliminary action by pre-defining multiple local coordinate systems with their transformation equations to the global machine coordinate system before path programming. This preparation allows support points to be specified in different local coordinate systems without requiring subsequent readjustments, as the coordinate transformations are already established and account for the machine model inaccuracies.
Solution Approach 2:
The patent introduces local coordinate systems as intermediary reference frames between the user and the global machine coordinate system. These local coordinate systems serve as mediators that simplify the specification of support points while the programming device automatically handles the coordinate transformations, reducing the need for manual readjustment due to model inaccuracies.
2Adaptability or versatility
If multiple local coordinate systems are provided to the programming device, then flexible specification of positions in different reference frames is enabled, but the programming complexity increases
Solution Approach 1:
The patent applies self-service by implementing automatic coordinate transformation within the programming device. When support points are specified in different local coordinate systems, the programming device automatically transforms these coordinates to the global machine coordinate system using the pre-defined transformation equations, eliminating the need for manual transformation calculations by the programmer and reducing programming complexity.
Solution Approach 2:
The patent makes the programming device universal by enabling it to accept position specifications in multiple local coordinate systems and automatically handle the transformations. This multi-functionality allows the same programming device to work with various coordinate reference frames without requiring separate programming procedures for each system, thus maintaining simplicity while providing flexibility.
3Ease of operation
If the programming device automatically determines the path based on user-provided positions, then the programming process is simplified, but the ability to handle drive limitations and optimize paths is reduced
Solution Approach 1:
The patent applies feedback by implementing an optimization step where the automatically determined path is refined by a path optimization device. This optimization device receives the initial path from the programming device and adjusts it to account for drive limitations, collision avoidance, and other operational constraints, then feeds back the optimized path to ensure both simplicity and reliability.
Solution Approach 2:
The patent uses preliminary action by pre-defining drive limitations, collision zones, and optimization criteria before path determination. These parameters are established in advance so that when the programming device automatically determines the path, it can incorporate these constraints from the beginning, and subsequent optimization can refine the path without requiring manual intervention.
Data Source
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AI summary
A programming device (1) receives a number of local coordinate systems (K1 to K4) from a user (9). Each local coordinate system (K1 to K4) is referenced directly or via at least one other local coordinate system (K1 to K4) to a global machine coordinate system (K) of a motion-controlled machine. The programming device (1) receives from the user (9), with reference to each of the local coordinate systems (K1 to K4), a number of positions (A1 to A4) to be approached by the end effector (5) and/or a number of obstacles (8) to be avoided by the end effector (5). Based on the positions (A1 to A4) to be approached and/or the obstacles (8) received from the user (9) in the global machine coordinate system (K), the programming device (1) determines the path (7) to be followed by the end effector (5) in the global machine coordinate system (K).The programming device (1) stores the path (7) to be followed by the end effector (5) as the first file (10), so that it can be recalled at a later time.