Manipulator Path Editing Through Direct Robot Position Input
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Solution Overview
Problem
Conventional lead-through programming of industrial robotic manipulators is cumbersome, especially when modifying, adding, or deleting points in a movement path, as users must switch attention between the manipulator and a programming device, making it difficult to manage complex paths.
Innovation Solution
A method that allows users to modify movement paths by moving a robotic manipulator to a path modifying position, using the actual position of the manipulator as input for modifications, enabling simpler user interaction through a single input element like a button or voice command, and utilizing point and movement segment selection regions for easy selection and modification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional lead-through programming is used where points are added at the end of the movement path, then the programming process is straightforward and simple, but modifying, adding, or deleting intermediate points becomes troublesome and time-consuming
Solution Approach 1:
The system provides visual feedback by displaying the movement path and programmed points on a screen. The user can see the current path and selectively activate points to modify them, providing immediate visual confirmation of the modification without needing to search through code
Solution Approach 2:
A screen display acts as an intermediary between the user and the robot program. Instead of directly editing code, the user interacts with the visual representation of the movement path, selecting points and modifying them through the display interface, which then updates the underlying program
2Reliability
If the user switches attention between the moving manipulator and the TPU to modify points, then the robot program can be correctly created, but the process becomes slow and cumbersome
Solution Approach 1:
The screen provides continuous visual feedback showing the movement path and programmed points, allowing the user to monitor and modify the program while watching the manipulator move, eliminating the need to switch attention between devices
Solution Approach 2:
The system merges the programming interface and the manipulator control into a single integrated display system. The screen shows both the movement path and allows modification of points, combining functions that were previously separated between TPU and manipulator
3Device complexity
If block programming is used without visible pointers, then the programming structure is compact, but selecting and modifying blocks becomes particularly difficult
Solution Approach 1:
The system uses visual differentiation on the screen display to indicate selected points and movement segments. Different visual states (such as highlighting or color changes) show which blocks are active or selected, making them easily identifiable without adding physical pointers
Data Source
AI summary
A method of programming a manipulator, the method including providing a movement path for execution by the manipulator, the movement path having a plurality of points including a start point and an end point and at least one movement segment between the plurality of points; moving the manipulator to a path modifying position; and modifying the movement path from the start point to the end point based on the path modifying position upon receiving a modification input from a user. A control system for programming a manipulator, and an industrial robot including the manipulator and a control system, are also provided.