Robot Operation Command Generation with Unit and Connecting Jobs
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Solution Overview
Problem
Existing robot operation command generation methods become complex due to the inclusion of conditional branches and loops, leading to increased calculation loads and reduced user efficiency, as users are forced to write redundant descriptions to avoid these complexities.
Innovation Solution
A method and device for generating robot operation commands by extracting work commands from a workflow, referencing a command definition database to arrange unit jobs in order, and creating connecting jobs to move the robot between these jobs, thereby simplifying the command structure and reducing complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conditional branches and loops are included in robot operation commands, then the degree of freedom for writing robot operation commands is improved, but the complexity of operation commands and calculation load on robot control device increase
Solution Approach 1:
A command generation device is introduced as an intermediary between the user and the robot control device. This device automatically generates operation commands with conditional branches and loops based on simple unit job definitions, thereby providing adaptability without increasing the complexity that the robot control device must handle directly
Solution Approach 2:
The command generation device performs preliminary action by pre-processing the operation command generation before execution. It analyzes the work flow and automatically creates complex command structures in advance, so that the robot control device only needs to execute pre-generated commands without performing complex calculations during runtime
2Adaptability or versatility
If conditional branches and loops are included in robot operation commands, then the degree of freedom for writing robot operation commands is improved, but the calculation load on robot control device increases
Solution Approach 1:
The command generation device acts as an intermediary that performs the computationally intensive tasks of analyzing work flows and generating complex command structures. This transfers the calculation load from the robot control device to the command generation device, allowing the robot control device to operate with lower energy consumption during execution
3Device complexity
If redundant descriptions are used in robot operation commands, then the complexity of operation commands is reduced, but user efficiency decreases
Solution Approach 1:
The system defines unit jobs once as templates and then copies and combines them to build complex operation sequences. This eliminates the need for users to write redundant descriptions repeatedly, as the command generation device automatically assembles copied unit jobs according to the work flow, maintaining simplicity while improving user efficiency
Data Source
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AI summary
A method of generating a robot operation command includes extracting a work command from an overall work flow; extracting, from a command definition database (1ca), a command definition corresponding to the extracted work command, the work command having been read; generating, by referring to the read work command, a set of unit jobs in which at least one work command is arranged in order, based on the extracted command definition; generating, for a plurality of unit jobs, a connecting job for causing a robot to be moved from an end position of a previous unit job to a start position of a subsequent unit job; and generating a robot operation command in which the unit jobs and the connecting job are continuous.