Robot Operation Command Generation with Unit Jobs and Connecting Paths
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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 efficiency in writing robot operation commands.
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 generating connecting jobs to move the robot between these jobs, while avoiding interference and optimizing movement paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conditional branches and loops are included in robot operation commands to increase flexibility, then the degree of freedom for writing robot operation command is improved, but the complexity of operation commands and calculation load on robot control device increases
Solution Approach 1:
An external command generation device is introduced as an intermediary between the user and the robot control device. This external device handles the complex tasks of generating operation commands with conditional branches and loops, while the robot control device only executes the generated commands. This mediator approach allows flexible command structures without burdening the robot control device with complex calculation loads.
Solution Approach 2:
The command generation process is segmented into two parts: (1) high-level work command input by the user, and (2) detailed operation command generation by the external device. This segmentation separates the flexibility requirements from the execution requirements, allowing complex command structures to be created without increasing the burden on the robot control device.
2Adaptability or versatility
If conditional branches and loops are included in robot operation commands, then the flexibility of robot operation is improved, but the calculation load on robot control device increases
Solution Approach 1:
The external command generation device acts as a mediator that performs the computationally intensive tasks of generating conditional branches and loops. The robot control device only receives the final generated commands for execution, significantly reducing its calculation load and energy consumption while maintaining operational flexibility.
3Device complexity
If redundant descriptions are used in robot operation commands to maintain simplicity, then the complexity of operation commands is reduced, but the efficiency of writing robot operation command decreases
Solution Approach 1:
The system uses templates and pre-defined command patterns stored in the command generation device. Instead of requiring users to write redundant descriptions, the system copies and adapts existing command patterns to generate appropriate operation commands, improving writing efficiency while maintaining simplicity.
Solution Approach 2:
Command patterns and templates are prepared in advance in the command generation device. This preliminary preparation allows the system to generate efficient operation commands without requiring users to write redundant descriptions each time, thereby improving productivity while keeping commands simple.
Data Source
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, 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.