Manipulator Program Control via Multi-Language Path Segmentation
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Solution Overview
Problem
Conventional manipulator program creation methods, either 'offline' or 'online', have limitations such as time-consuming and error-prone 'offline' creation lacking interactive optimization and 'online' creation requiring manual trajectory recording, while combining advantages of both methods is challenging.
Innovation Solution
A method that integrates a first manipulator program implemented in one programming language with a second manipulator program created in a different language, allowing for optimization of the movement path by changing trajectory attributes, enabling smooth transitions and iterative optimization of the entire trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manipulator programs are created offline using conventional programming languages, then program creation speed is improved and computing capacity requirements are reduced, but interactive optimization functions (moving forwards and backwards, approaching certain path sections) are lost or require considerable additional programming effort
Solution Approach 1:
The manipulator program is divided into multiple path sections, each with teachable points that can be independently accessed and optimized. This segmentation allows the program to maintain offline creation efficiency while enabling interactive optimization at specific path sections through functions like moving forwards and backwards and approaching certain points.
Solution Approach 2:
The programming system is designed to support multiple programming languages and creation methods (offline and online) within a single manipulator control system. This universality allows the system to combine the efficiency of offline programming with the adaptability of online teaching, enabling both rapid program creation and interactive optimization capabilities.
2Adaptability or versatility
If manipulator programs are created online by teaching, then adaptability to actual conditions (component tolerances, robot inaccuracies, non-modeled parts) is improved, but program creation becomes time-consuming and requires manual trajectory recording
Solution Approach 1:
The system performs preliminary offline program creation to establish the basic trajectory and logic structure before conducting online teaching. This preliminary action reduces the amount of time required for online teaching by focusing interactive optimization only on critical path sections rather than the entire trajectory, thus maintaining adaptability while reducing time loss.
Solution Approach 2:
Instead of requiring complete online teaching of the entire trajectory, the system applies online teaching selectively to specific path sections that require adaptation to actual conditions. This partial action approach maintains adaptability to tolerances and inaccuracies while significantly reducing program creation time compared to full online teaching.
3Productivity
If offline programming is used, then program creation requires minimal computing capacity and can be done quickly, but the process is error-prone and lacks functions for moving forwards and backwards and approaching path sections
Solution Approach 1:
The system incorporates feedback mechanisms that allow operators to review and verify programmed trajectories through functions like moving forwards and backwards and approaching certain path sections. This feedback enables error detection and correction while maintaining the efficiency benefits of offline programming, thus improving program accuracy without sacrificing creation speed.
4Stability of the object's composition
If complex control structures and predefined program structures are enforced in offline programming, then program organization is improved, but not all available functionalities of the programming language can be used and additional programming effort is required
Solution Approach 1:
The system provides dynamic program structures that can adapt to different programming needs. While predefined structures are available for organization, the system allows flexible modification and integration of different programming languages and creation methods, enabling users to access full functionality without being constrained by rigid predefined structures, thus reducing programming effort while maintaining organization.
Data Source
Figure 1
Figure 2A~2B
Figure 3~4
AI summary
The invention relates to a method for controlling a manipulator system (1), wherein the manipulator system (1) comprises at least one manipulator (10) and a control unit (20). The control device (20) is designed to control the manipulator (10) by means of a manipulator program (200), wherein the manipulator program comprises a first manipulator program (150) and a second manipulator program (170), wherein the second manipulator program (170) describes a second part of the movement path (70) of the manipulator (20) and is not implemented in the programming language of the first manipulator program.