Robot Base Repositioning Control for Dynamic Working Points
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Solution Overview
Problem
Existing robot control methods struggle to adapt to dynamic workpieces and robot bases, where the specified working points may not be reachable due to fixed programming, requiring manual adjustments or reprogramming.
Innovation Solution
A robot control method that automatically adjusts the position and orientation of the robot base using an additional axis, allowing the manipulator to reach changed working points by recalculating axis values and maintaining predetermined attitude values, enabling the tool reference point to approximate the target working point without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot base position is fixed according to the programmed values, then the control system is simple and stable, but the manipulator cannot reach the working point when the workpiece or robot base moves dynamically
Solution Approach 1:
The patent applies dynamics by making the robot base position adjustable during operation. The control system dynamically modifies the programmed position values of the robot base according to the actual position detected by the detection device, allowing the system to adapt to moving workpieces without requiring complete reprogramming.
Solution Approach 2:
The patent implements feedback through a detection device that continuously monitors the actual position of the workpiece or robot base. This detected position information is fed back to the control system, which then automatically adjusts the robot base position values to maintain accuracy in reaching working points.
2Manufacturing precision
If manual adjustments are made to reach unattainable working points, then the manipulator can reach the target position, but production efficiency decreases due to interruption and reprogramming
Solution Approach 1:
The control system performs self-service by automatically detecting position deviations and adjusting the robot base position values without human intervention. The system uses detection device data to autonomously recalculate and modify position parameters, eliminating the need for manual reprogramming or adjustments during operation.
Solution Approach 2:
The patent applies preliminary action by pre-establishing the detection device and control algorithm that will automatically adjust positions when deviations occur. The system is prepared in advance to handle position mismatches, so when dynamic changes occur during operation, the adjustment happens automatically without interrupting the production flow.
3Adaptability or versatility
If the robot program is reprogrammed to accommodate base position changes, then the manipulator can reach new working points, but the complexity of programming increases and operation becomes more difficult
Solution Approach 1:
The patent replaces manual programming operations with an automated control system. Instead of requiring operators to manually reprogram the robot when base positions change, the system uses detection devices and automatic calculation algorithms to dynamically adjust position values, substituting mechanical programming operations with automated computational processes.
Data Source
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AI summary
The invention relates to a robot control method comprising the steps of specifying target values of an operating point (PA) defined in position and orientation by a robot program, in whose programmed dependence a tool reference point (PT) of a manipulator (1) is to be set by automatically moving axes (8a) of the manipulator (1) by a robot control (2) connected to the manipulator (1);- starting from position values specified by the robot program for a planned position and orientation of a robot base (9) adjustable by an additional axis (11, 14), the position values are automatically changed such that the actual position of the robot base (9) is approximated to a predetermined reference point (P), in particular to the working point (PA) or to the tool reference point (PT), relative to the planned position, and - the additional axis (11, 14) is automatically moved such that the robot base (9) assumes the position and orientation that corresponds to the changed position values.;