Manipulator Program Rerun Points for Fast Error Recovery
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Solution Overview
Problem
Manipulator systems face challenges in efficiently continuing or correcting processes due to errors, leading to high restart times and costs, particularly in irreversible processes like welding, where conventional programming techniques increase complexity and limit real-time error handling.
Innovation Solution
A method that combines operations into structured blocks with defined rerun points and assigns reaction structures to manage errors by guiding the system back to a rerun point, allowing for error correction and process continuation without full program termination, using operation and reaction structures within a semantic module.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional programming techniques are used for error handling in manipulator systems, then the manipulator program can be structured to handle errors, but the programming complexity increases significantly
Solution Approach 1:
The manipulator program is segmented into operation structures with defined entry points and rerun points. Each operation structure represents a modular unit that can be independently executed and restarted, reducing overall program complexity while maintaining error handling capability.
Solution Approach 2:
Rerun points are predefined at specific locations within operation structures before errors occur. When an error is detected, the system automatically jumps to the appropriate rerun point, eliminating the need for complex error analysis and reducing programming complexity.
2Reliability
If the manipulator program is terminated and restarted after an error, then the system can be reset to a known state, but stoppage time and productivity are reduced
Solution Approach 1:
Rerun points are established at strategic locations within operation structures, allowing the system to restart from a known consistent state without full program termination. This preliminary structuring enables rapid recovery and minimizes stoppage time.
Solution Approach 2:
The operation structure design allows the manipulator program to continue execution after error correction by jumping to rerun points. This maintains continuity of useful action rather than complete interruption, thereby preserving productivity.
3Adaptability or versatility
If general high-level languages are used for manipulator programming, then programming flexibility is improved, but real-time error detection and handling capability deteriorates
Solution Approach 1:
The program is divided into operation structures with explicit entry and rerun points, creating a structured framework that enables real-time error detection and handling while maintaining the flexibility of high-level programming languages.
Solution Approach 2:
The system continuously monitors execution within operation structures and provides feedback when errors are detected. This enables real-time error handling by jumping to predefined rerun points, maintaining both flexibility and reliability.
Data Source
AI summary
The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ⋅providing at least one manipulator program, wherein the manipulator program comprises several operations; ⋅combining at least two of the operations to form at least one operation structure; ⋅defining at least one placement point (AP1, AP2), wherein the at least one placement point (AP1, AP2) forms the start andor the end of an operation structure (310); ⋅providing at least one reaction structure (320) and assigning the reaction structure (320) to an operation structure (310), wherein tlte at least one reaction structure (320) contains reaction operations (R1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP1, AP2); ⋅executing the manipulator program and, if an error occurs, ⋅executing the reaction structure (320) such that the manipulator system is transferred into a system stare which corresponds to a placement point (AP1, AP2).