Manipulator Program GUI Navigation with Rerun Point State Restore
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Solution Overview
Problem
Current manipulator systems face challenges in debugging and error correction due to complex hardware requirements and resource-intensive methods, leading to high costs and potential damage during series production, especially when using 'jump to line' commands which cannot ensure correct system state restoration.
Innovation Solution
A graphical user interface for manipulator programs that includes rerun points, allowing users to select and revert to specific system states, reducing the need for complete execution history recording and enabling deterministic continuation of the program, thus simplifying debugging and parameter optimization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If debugging backwards in time methods are used to record complete execution history, then deterministic program continuation is achieved, but hardware complexity and resource consumption increase significantly
Solution Approach 1:
The execution history is segmented into discrete checkpoints rather than recording complete continuous history. Each checkpoint captures essential system state parameters at specific program locations, dividing the recording burden into manageable segments that can be stored and retrieved efficiently
Solution Approach 2:
Checkpoints are pre-established at defined program locations before execution errors occur. By preparing these state snapshots in advance at key locations, the system enables rapid deterministic continuation without needing to record and store every intermediate state during execution
2Ease of operation
If 'jump to line' commands are used for debugging, then navigation to error location is enabled, but system state consistency cannot be ensured
Solution Approach 1:
Checkpoints act as intermediary state snapshots between the current system state and the target state after jumping. When navigating to a previous location, the system retrieves and restores the intermediate checkpoint data, ensuring that all system parameters are consistently restored to match the intended state at that location
3Measurement precision
If complete execution history is recorded for debugging, then accurate state restoration is possible, but storage and computation resources are consumed
Solution Approach 1:
Only essential state parameters required for deterministic continuation are extracted and stored at checkpoints, rather than recording complete execution history. This selective extraction captures the minimum necessary information for accurate state restoration while significantly reducing storage requirements
Data Source
AI summary
The present invention relates to a computer program for producing a graphical user interface (100) of a manipulator program and to a method for navigation through a manipulator program, wherein the manipulator system (1) controlled by the manipulator program comprises at least one manipulator (30). The manipulator program comprises at least one set-down point (AP1 to AP5). The user interface (100) has a graphical program progress indicator (150) which indicates the current program progress of the manipulator program and the at least one set-down point (AP1 to AP5) of the manipulator program. The at least one set-down point (AP1 to AP5) indicated can be selected by a user, and the manipulator program is set up to control the manipulator system (1) in such a manner that the system assumes a system state assigned to the selected set-down point (AP1 to AP5) in response to the selection. The method comprises the steps of: providing a manipulator program; producing the graphical user interface; stopping the manipulator program; receiving a selection of a set-down point on the program progress indicator of the graphical user interface; and guiding the manipulator program to the selected set-down point, with the result that the manipulator program controls the manipulator system in such a manner that the system assumes the system state assigned to the selected set-down point. Such navigation may be advantageous, in particular, in the field of debugging, error correction and parameter correction or parameter optimization.