Robot Controller for Position-Independent Logic Command Execution
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Solution Overview
Problem
Existing robot controllers are restricted in executing logic commands independently of teaching positions, leading to complex teaching programs, delayed operation-plan processing, and limited flexibility in executing machining processes at desired timings and positions.
Innovation Solution
A robot controller with an operation command interpretation unit, a logic command interpretation unit, and a command execution unit that allows logic commands to be executed independently of teaching positions, enabling execution at desired positions and timings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If logic commands are executed based on teaching positions in the teaching program, then the robot operation can be controlled step by step, but the teaching program becomes complex and the number of teaching points increases
Solution Approach 1:
The patent separates the execution control of logic commands from the robot's teaching positions. The logic command execution is segmented into independent control based on its own execution positions, which are distinct from the robot's teaching positions. This allows the teaching program to remain simple while logic commands are executed independently at their designated positions along the robot's operation path.
2Adaptability or versatility
If multiple teaching positions are set for executing logic commands, then the machining process can be controlled at different positions, but the operation-plan processing is delayed
Solution Approach 1:
The patent introduces an intermediary mechanism where the logic command execution is controlled by detecting the robot's position relative to predefined execution positions, rather than requiring the robot to stop at each teaching position. This intermediary position detection system allows multiple logic commands to be executed at different positions without delaying the overall operation plan, as the robot continues moving while logic commands are executed at their respective positions.
3Manufacturing precision
If the robot stops at each teaching position to execute logic commands, then the machining process can be precisely controlled, but the productivity decreases
Solution Approach 1:
The patent implements a dynamic control approach where the robot does not stop at teaching positions but continues moving along its operation path. Logic commands are executed dynamically based on the robot's real-time position relative to predefined execution positions. This dynamic execution method maintains machining precision while eliminating stops, thereby preserving productivity.
4Manufacturing precision
If teaching positions are increased to cover all machining sections, then the machining process can be precisely controlled, but the teaching program becomes overly long and difficult to maintain
Solution Approach 1:
The patent extracts the logic command execution control from the robot's teaching program structure. Instead of embedding logic command execution at every teaching position, the system extracts and implements independent logic command execution based on separate execution positions. This extraction simplifies the teaching program while maintaining precise machining control through position-based logic command triggering.
Data Source
AI summary
To provide a robot controller and a robot control method that do not need a logic command to be associated with a teaching position for a robot, and that are thus capable of executing the logic command at a desired position and a desired timing. A robot controller includes: an operation command interpretation unit that interprets an operation command program describing a teaching operation and a teaching position for a robot, and that generates an operation command; a logic command interpretation unit that interprets a logic command program describing a logic command instructing a machining process to be performed by the robot and an execution position for the logic command, independently from the teaching operation and the teaching position, and that generates the logic command that includes the execution position; and a command execution unit that executes the operation command and the logic command.