Robot Controller Tool Coordinate System Monitoring
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current robot controllers require extensive time to create configuration files for monitoring the movement direction of operation tools due to the need to set multiple user coordinate systems for various operations, especially when movement directions are limited at multiple points on a workpiece, leading to inefficiencies in setting up and executing precise robotic operations.
Innovation Solution
A controller that predetermines a reference coordinate system, transforms it into a flange coordinate system, and further into a tool coordinate system, which includes restriction or permission axes for the operation tool, allowing for real-time monitoring and speed control based on these defined axes to prevent movement in unauthorized directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple user coordinate systems are set for multiple operations and multiple points on workpiece, then movement direction monitoring can be performed for each operation, but the configuration file creation requires extended time period
Solution Approach 1:
The tool coordinate system is designed to serve multiple operations and multiple workpiece points simultaneously. Instead of creating separate user coordinate systems for each operation point, a single tool coordinate system attached to the operation tool provides universal monitoring capability across all operations, reducing configuration time while maintaining monitoring precision
Solution Approach 2:
The tool coordinate system acts as an intermediary between the robot's reference coordinate system and the various operation points on the workpiece. By establishing the coordinate system at the tool level rather than at each workpiece point, the system enables efficient monitoring without requiring multiple separate configurations
2Reliability
If user coordinate system is set on workpiece surface for each operation point, then movement restriction can be enforced at each point, but it is necessary to set multiple coordinate systems leading to extended setup time
Solution Approach 1:
The tool coordinate system provides a universal reference frame that can enforce movement restrictions at multiple workpiece points without requiring separate coordinate systems for each point. The single tool coordinate system handles multiple operations, reducing configuration complexity while maintaining reliable movement restriction enforcement
Solution Approach 2:
Multiple coordinate system configurations that would traditionally be required for different operation points are merged into a single tool coordinate system. This consolidation reduces the number of configuration steps and simplifies the overall system while maintaining the ability to enforce restrictions at each point
Data Source
AI summary
A controller includes a storage unit that stores a configuration file in which a tool coordinate system including a coordinate axis extending in the restriction direction of a movement of a hand is set. The controller includes a determination unit that determines whether or not the origin of the tool coordinate system moves in the direction of the coordinate axis extending in the restriction direction. The controller includes a speed limiting unit that limits the motion speed of the robot. The speed limiting unit performs a speed reduction control for reducing the movement speed of the hand or a stop control for stopping the robot if the origin of the tool coordinate system moves in the direction of the coordinate axis extending in the restriction direction.