Robot Controller Inheriting Tool Offsets for TCP Management
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Solution Overview
Problem
Conventional industrial robots require complex and error-prone point teaching processes to adjust the position of multiple work tools for each point on a work-piece, especially when the number of points increases, leading to potential errors in designating the correct work tool, work, and changeover Tool Center Point (TCP).
Innovation Solution
A robot system that includes a controller with a main program memory, point sequence memory, point kind definition memory, adjustment information memory, and an executing unit, which allows for the inheritance of adjustment information from reference information within the point kind definition, eliminating the need for explicit TCP setting for each point by using offset information for each work tool relative to a common coordinate.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If point teaching is carried out for each point to adjust work tool position, then positioning accuracy is improved, but manipulation complexity and error possibility increase
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing offset information for multiple work tools relative to a common coordinate system before actual point teaching. The controller stores tool position definitions containing offset values that represent the relative positional relationships among work tools. During point teaching, these pre-prepared offset information is automatically applied, eliminating the need for manual TCP setting for each point and reducing manipulation complexity while maintaining positioning accuracy.
2Measurement precision
If explicit TCP setting is performed for each point, then work tool positioning precision is improved, but time consumption and operational efficiency deteriorate
Solution Approach 1:
The patent implements universality by creating a common coordinate system that serves as a reference for all work tools. The tool position definitions store offset information relative to this common coordinate, allowing the same coordinate data to be universally applied across multiple work tools. When a point is taught, the controller automatically selects and applies the appropriate offset information based on the work tool being used, eliminating the need for separate TCP settings for each tool and point combination, thus reducing time consumption while maintaining positioning precision.
3Adaptability or versatility
If the number of work tools is increased, then versatility is improved, but the complexity of managing relative positional relationships increases
Solution Approach 1:
The patent introduces a common coordinate system as an intermediary between multiple work tools and the control system. Instead of directly managing the complex relative positional relationships among numerous work tools, the system uses offset information relative to the common coordinate as a mediator. The tool position definitions store these offset values, and the controller automatically retrieves and applies the appropriate offsets based on the selected work tool, simplifying the management of relative positional relationships while supporting multiple work tools and improving versatility.
Data Source
AI summary
A controller of a robot includes a storage that stores a main program, a point sequence containing statements arranged in sequence and containing kind information identifying control details to a work tool and coordinate information on a point on a work-piece, a point kind definition describing the control details identified by the kind information, and containing reference information to refer adjustment information for each work tool, and the adjustment information for each work tool prepared so as to correspond to the reference information, an executing unit executing the main program, and a referring unit referring the adjustment information based on the reference information when the point kind definition in the point sequence is inherited during the execution by the executing unit, and applying the adjustment information to the control details.