Manipulator Reverse Path Generation Using G-Code Inversion
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Solution Overview
Problem
Conventional methods for moving manipulators along predefinable paths require binary data storage and reconstruction for reverse movements, limiting flexibility and increasing software complexity, as well as potential for tool damage during reverse operations.
Innovation Solution
A method that determines a reverse movement path composed of higher-level DIN 66025 or ISO 6983 commands, allowing for adaptable and efficient reverse traversal with optional parameter changes, and also generates a forward movement path for seamless continuation, reducing software complexity and avoiding unnecessary movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If binary data storage and reconstruction is used for reverse movements, then the manipulator can be moved backward along the movement path, but the software complexity increases and flexibility is limited
Solution Approach 1:
Instead of storing the entire movement path in binary data and reconstructing reverse movements from that data, the patent inverts the approach by generating reverse movement commands (G-codes) directly from the original program commands. This allows the control system to work with high-level commands rather than low-level binary data, reducing software complexity while maintaining flexibility.
Solution Approach 2:
The patent changes the parameter representation from binary data to textual G-code commands. By maintaining the movement path as interpretable commands with adjustable parameters, the system allows flexible modification of reverse movements (such as changing speeds, skipping movements, or adjusting tool positions) without increasing software complexity.
2Reliability
If the manipulator is moved backward using binary data, then reverse movement is possible, but tool damage may occur due to lack of adaptability
Solution Approach 1:
The patent makes the reverse movement path dynamic by allowing individual G-code commands to be modified based on the current situation. The control system can adjust parameters such as movement speed, skip certain movements, or change tool positions during reverse movement, enabling adaptive response to potential tool damage risks while maintaining reliability.
3Adaptability or versatility
If the entire movement path is stored in binary data, then the movement path can be reproduced, but any changes or adaptations during reverse movement become difficult
Solution Approach 1:
The patent creates a copy of the movement path in the form of G-code commands that can be independently modified. Instead of working with the original binary data, the system generates a textual command representation that can be copied, stored, and adapted without losing interpretability, allowing flexible changes during reverse movement while preserving the original program integrity.
Data Source
AI summary
The disclosure relates to a method for moving a manipulator in space along a predefinable movement path with a plurality of individual movements to be carried out one after another in a predefined order, wherein, during the movement of the manipulator along the movement path, during and/or after each individual movement carried out, a reverse movement path is determined, along which, from an intermediate position which the manipulator has reached during and/or after the individual movement carried out last, the manipulator can traverse the individual movements previously carried out, backward in each case and in an order opposite to the predefined order, and to an apparatus having manipulator.