Multi-Robot Simulation Device Motion Program Optimization
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Solution Overview
Problem
Existing simulation devices cannot effectively simulate the motion of multiple robots simultaneously, leading to interference and inadequate evaluation of motion programs in robot systems.
Innovation Solution
A simulation device that executes motion programs for multiple robots, calculating execution time and waiting time based on simulation results, and optimizing command velocity and acceleration to prevent interference and optimize motion programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If motion programs are simulated for multiple robots simultaneously, then interference between robots can be detected and motion optimization can be achieved, but existing simulation devices cannot handle multiple robots leading to inadequate evaluation
Solution Approach 1:
The motion program is divided into multiple lines with individual execution time calculations. Each robot's motion program is processed separately through the simulation unit, which calculates execution times for each line independently, then these are aggregated to evaluate overall system performance and detect inter-robot interference.
Solution Approach 2:
A storage unit acts as an intermediary to store motion programs, command velocities, command accelerations, and execution times in time series. This intermediary structure enables the system to manage multiple robot programs systematically and evaluate their interactions without direct complexity in the simulation unit.
2Productivity
If cycle time is minimized by modifying command velocity and acceleration, then productivity improves, but motor load constraints must be maintained
Solution Approach 1:
The simulation unit modifies command velocity and command acceleration parameters to optimize cycle time while maintaining motor load within allowable ranges. By adjusting these kinematic parameters, the system achieves faster cycle times without exceeding motor capabilities.
Solution Approach 2:
The system dynamically adjusts command velocity and acceleration based on motor load constraints. The simulation evaluates different velocity and acceleration profiles, selecting optimal values that minimize cycle time while keeping motor loads within safe operating limits.
3Reliability
If motion waiting time is calculated and optimized, then robot interference is reduced, but execution time calculation complexity increases
Solution Approach 1:
The system calculates execution times for each line of the motion program in advance through simulation, before actual robot execution. Motion waiting times are determined preliminarily based on these calculated execution times, allowing interference prevention to be built into the program before deployment.
Solution Approach 2:
The simulation unit provides feedback on execution times and potential interference conditions. The waiting time calculation unit uses this feedback to determine appropriate waiting periods, creating a closed-loop optimization process that prevents interference while maintaining efficient execution.
Data Source
AI summary
A simulation device includes a simulation unit which executes, by simulation, a motion program containing a command velocity and a command acceleration of the drive shaft, and a motion waiting instruction, a storage unit which stores in time series a line number of the motion program and the command velocity and the command acceleration at the line number associated with one another; an execution time calculation unit which calculates the execution time of the motion program for each of the line numbers stored in the storage unit based on a simulation result; and a waiting time calculation unit which calculates the motion waiting time in accordance with the motion waiting instruction based on the execution time calculated by the execution time calculation unit.