Offline Robot Programming Around Virtual Singularity Margins
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Solution Overview
Problem
Robot programs created through off-line programming often require significant correction when transferred to actual robots due to discrepancies in virtual and actual environments, leading to potential operation outside movable ranges or singularity issues.
Innovation Solution
A programming device that determines and sets a virtual drive unit's singularity range wider than the actual range, allowing for simulation and warning within defined limits to prevent actual robot operation errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If off-line programming is performed using a virtual robot, then programming can be done before actual robot operation, but the robot program may attempt to operate the robot outside its movable range or to its singularity
Solution Approach 1:
The patent applies preliminary action by performing off-line programming using a virtual robot model that replicates the actual robot's movable ranges and singularity positions. The program is created and validated in advance, allowing corrections to be made before actual robot operation, thereby reducing programming time while maintaining reliability through virtual environment validation
Solution Approach 2:
The patent uses a virtual robot as a copy of the actual robot, replicating its kinematic characteristics, movable ranges, and singularity positions. This virtual copy allows programming and simulation without risking actual robot damage, enabling time-efficient development while ensuring program accuracy transfers correctly to the physical system
2Manufacturing precision
If the robot program is corrected to fit actual scene and robot, then the program accuracy improves, but additional correction may still be needed
Solution Approach 1:
The patent implements feedback by simulating the robot program in the virtual environment and comparing the results with expected outcomes. Any deviations or errors are detected during virtual execution, allowing corrections to be made iteratively before deploying to the actual robot, thereby improving accuracy while minimizing field correction time
Solution Approach 2:
The patent performs preliminary validation and correction of the robot program in the virtual environment before actual robot operation. By anticipating and resolving issues in advance through virtual simulation, the need for additional corrections during actual operation is minimized, reducing overall correction time
Data Source
AI summary
The present disclosure addresses the problem of providing a programming device and a program that can reduce an amount of correction required for a robot program created by off-line programming. The programming device of the present disclosure comprises a processing unit. The processing unit determines the entry of a virtual drive unit, which is obtained by simulating or emulating the drive unit of a robot by a computer, into a second singularity range wider than a first singularity range that is an actual singularity range of the drive unit.