Graphical Robot Force-Control Programming With Recovery Branches
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Solution Overview
Problem
Existing robot teaching playback systems face difficulties in easily teaching recovery and end processing when operations fail, and require skilled technicians to create control programs for robots using force detectors.
Innovation Solution
A robot control device with a display control unit, conversion unit, and control execution unit that creates and executes control programs, featuring an input screen with operation flow creation and parameter setting areas, including conditional branches and force detector parameters, to facilitate easier programming and recovery processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional teaching methods are used to create control programs for robots with force detectors, then the robot can execute force control operations, but the teaching process becomes complex and requires skilled operators
Solution Approach 1:
The patent uses graphical icons to represent operation objects and conditional branches, creating a visual copy of the control program structure that is easier to understand and teach than traditional text-based programming. The graphical flowchart serves as an intermediate representation that simplifies the teaching interface while maintaining full control functionality.
Solution Approach 2:
The patent introduces a graphical flowchart as an intermediary between the simple graphical interface and the underlying complex force control program. This intermediary layer allows novice operators to work with visual elements while the system automatically handles the complex parameter settings and control logic required for force control operations.
2Manufacturing precision
If detailed parameter settings are provided for all operations, then the control program can be precisely configured, but the teaching interface becomes complex and difficult to use
Solution Approach 1:
The patent segments the teaching interface into distinct graphical elements: operation objects representing specific operations, conditional branch objects for decision points, and parameter setting areas for configuration. This segmentation allows the complex control program to be built from manageable visual components rather than overwhelming text-based parameters.
Solution Approach 2:
The patent applies different levels of detail to different parts of the interface based on local needs. The graphical flowchart provides high-level structure visualization, while parameter setting areas provide detailed configuration only where necessary. This local quality approach prevents unnecessary complexity in areas where simple graphical representation suffices.
3Ease of manufacture
If traditional text-based programming is used for robot teaching, then the control program can be created, but recovery and end processing teaching becomes difficult
Solution Approach 1:
The patent creates visual copies of control flow structures using graphical icons for operations, conditional branches, and flow connections. This graphical representation makes it intuitive to teach recovery paths and end processing sequences, as operators can visually trace and modify the control flow without parsing text-based program structures.
Data Source
AI summary
A robot control device that creates a control program for work of a robot with a force detector, the device includes a processor, wherein the processor is configured to: display an input screen including an operation flow creation area for creating an operation flow of work on a display device; convert the created operation flow into a control program; and execute the control program to control the robot, wherein the input screen is configured to display a plurality of operation objects indicating a plurality of operations including an operation using force control, and one or more conditional branch objects indicating a conditional branch, as options, and wherein the operation flow creation area is configured to create an operation flow including the conditional branch by graphically placing an operation object selected from the plurality of operation objects and the conditional branch object.