Off-line Programming for Multiple Interacting Robots
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Solution Overview
Problem
Current manufacturing technologies lack effective methods for verifying and coordinating simultaneous robotic movements to prevent collisions between multiple interacting robots, making it challenging to program and execute complex task sequences efficiently.
Innovation Solution
An off-line programming system that uses a computer to define a virtual robot cell, generate and verify robot paths through simulation, and download program codes to a robot controller for execution, incorporating inverse kinematics to ensure coordinated motion and prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots are used to perform complex task sequences, then productivity and capability are improved, but coordination complexity and collision risk increase
Solution Approach 1:
A computer system serves as an intermediary between robot controllers, providing centralized coordination and path verification. The system receives program codes from multiple robot controllers, simulates their execution, verifies collision-free operation, and coordinates their simultaneous movements through virtual cell simulation before actual deployment.
Solution Approach 2:
The system performs preliminary verification of robot paths through computer simulation before actual robot execution. Program codes are tested in a virtual environment to detect potential collisions and coordination issues, allowing corrections to be made before deploying to physical robots, thus preventing problems in advance.
2Loss of time
If simultaneous robotic movements are coordinated without simulation verification, then programming time is reduced, but collision risk and operational reliability decrease
Solution Approach 1:
The system creates a virtual copy of the robot cell environment and robot paths for simulation purposes. Instead of testing physical robots, the system replicates their movements and interactions in a computer-based virtual model, allowing verification of collision-free operation without risking damage to actual equipment.
Solution Approach 2:
The simulation system provides feedback on potential collisions and coordination issues in robot paths. When conflicts are detected in the virtual environment, the system identifies the specific problems and allows programmers to adjust the paths, creating a feedback loop that improves reliability before actual execution.
Data Source
AI summary
A method and apparatus are disclosed for off-line programming of multiple interacting robots. For example, a system for off-line programming (100) of multiple interacting robots includes a computer (110) for off-line programming and verification of program codes (111) for multiple interacting robots (131-133) and a robot controller (120) connected to the computer (110) to receive a download of at least one of the program codes for execution. Multiple interacting robots (131-133) can be controlled by the robot controller (120).