Offline Robot Simulation with Parallel Path Generation
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Solution Overview
Problem
Existing offline simulation environments struggle to simultaneously execute robot program execution and operation path generation, particularly in scenarios like depalletization systems for cardboard boxes or picking bulk piles of workpieces.
Innovation Solution
An offline simulation device that includes an offline program execution unit to simulate robot operations and generate paths in a virtual environment, with automatic path generation and adjustment units to compensate for the robot program and path parameters based on simulated operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single offline simulation environment is used, then the system structure is simple, but it is impossible to simultaneously execute robot program execution and operation path generation
Solution Approach 1:
The single offline simulation environment is divided into multiple independent simulation environments (first offline simulation environment and second offline simulation environment). Each environment can independently execute different functions (robot program execution and operation path generation), thereby enabling simultaneous execution without increasing overall system complexity.
Solution Approach 2:
A second offline simulation environment is created as a copy of the first offline simulation environment. This copied environment allows parallel execution of operation path generation while the original environment executes robot programs, resolving the contradiction between simultaneous execution capability and system structure simplicity.
2Measurement precision
If offline program execution is performed in a virtual space with vision sensor, then robot operation simulation is accurate, but the system requires complex coordination between multiple execution units
Solution Approach 1:
An adjustment unit is introduced as an intermediary between the offline program execution unit and automatic path generation execution unit. This adjustment unit coordinates the two execution units by adjusting operation paths based on simulation results, thereby maintaining execution accuracy while simplifying the coordination complexity through a centralized mediation mechanism.
Data Source
AI summary
This offline simulation device includes an offline program execution unit that executes a robot program in an offline simulation environment in which a robot, a plurality of workpieces that are stacked for the robot to extract, and a vision sensor for detecting the plurality of workpieces are disposed in a virtual space, so as to perform simulation of actions of the robot extracting the workpieces, and an automatic path generation execution unit that copies the offline simulation environment, and generates an action path for the actions of the robot in a duplicated offline simulation environment that has been copied. The offline simulation device also includes an adjustment unit that performs editing of the robot program and/or adjustment of parameters of the action path, on the basis of the actions of the robot that have been simulated and the action path that has been generated.