Robot Control Apparatus Visualizing Constant Velocity Sections
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Solution Overview
Problem
Existing robot control systems struggle to accurately identify and perform tasks during constant velocity sections, leading to irregularities in operations such as welding and substance application, as users find it difficult to distinguish these sections from observing robot motion, and current systems cannot accurately display these sections.
Innovation Solution
A control apparatus that includes a display controller to visually depict constant velocity sections in a robot's motion program, allowing users to teach and control the robot to perform tasks with improved accuracy by clearly displaying the sections where the end effector maintains a constant velocity, thereby preventing errors in acceleration and deceleration phases.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot operates at constant velocity during work sections, then the quality of work (welding, substance application) is improved, but it becomes difficult for users to identify these sections by observing robot motion
Solution Approach 1:
The patent applies visual differentiation by displaying constant velocity sections and work sections in different colors on the display unit. This allows users to easily identify which sections are executed at constant velocity without altering the robot's actual motion characteristics, thereby maintaining work quality while improving detectability.
2Ease of operation
If the robot language processing apparatus displays only work sections, then the display is simplified, but the user cannot accurately identify subsections within air-cut sections where constant velocity is maintained
Solution Approach 1:
The patent segments the motion program display into distinct sections: air-cut sections, work sections, and constant velocity sections. Each segment is visually differentiated, allowing users to see both the overall structure and the specific constant velocity subsections within air-cut sections, thereby improving identification accuracy while maintaining display clarity.
3Productivity
If the robot performs work during acceleration and deceleration phases, then productivity is improved, but manufacturing precision deteriorates due to velocity variations
Solution Approach 1:
The patent dynamically adjusts velocity based on section type by automatically generating motion programs that specify constant velocity for work sections and allow variable velocity for air-cut sections. This dynamic velocity control enables the robot to maintain high productivity by performing work during constant velocity phases while efficiently transitioning during variable velocity phases.
Data Source
AI summary
A robot system includes: a robot having a robot arm; a robot controller configured to move the robot arm based on a motion program stored in a memory; a display screen; and a display controller configured to generate and display a constant velocity area of a control point path for the robot arm. The motion program instructs the robot controller to move a control point on the robot arm along the control point path. The display controller being configured to display the constant velocity area by generating a path display image depicting the control point path, displaying the path display image on a display screen, and superimposing a constant velocity area on the path display image.