Bidirectional Synchronization of Robot and Graphical Programs
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Solution Overview
Problem
Conventional off-line programming methods for industrial robots result in discrepancies between graphical simulations and actual robot programs, leading to loss of program flow, input-output handling, and comments during translation, requiring manual reassembly and limiting the use of 3D simulations for modifications.
Innovation Solution
A method for synchronizing robot programs and graphical programs by converting them into token sequences, using a Longest Common Subsequence algorithm to generate modification commands, allowing seamless updates and maintaining consistency without losing program flow or comments, enabling bidirectional synchronization without re-generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a one-way translator is used to convert graphical program to robot program, then translation from 3D points and sequences to motion instructions is achieved, but program flow, loops, conditions, input-output handling, and comments are lost
Solution Approach 1:
The patent introduces an intermediary synchronization system that includes a graphical program interface, a robot program interface, and a synchronization mechanism. This intermediary structure enables bidirectional communication between the graphical and robot programs, allowing program flow, loops, conditions, input-output handling, and comments to be preserved during translation through the use of intermediate data structures and synchronization protocols.
2Loss of information
If manual reassembly is required to maintain program consistency, then program flow and comments can be preserved, but time consumption increases
Solution Approach 1:
The patent implements preliminary action by pre-defining data structures, synchronization protocols, and mapping rules that automatically preserve program flow, loops, conditions, input-output handling, and comments during translation. The synchronization mechanism is established in advance, enabling automatic preservation of program elements without requiring manual reassembly after translation.
Solution Approach 2:
The patent utilizes parameter changes by transforming the translation process from a simple one-way conversion to a multi-parameter synchronization process. The system adjusts multiple parameters including program flow structure, loop configurations, condition logic, input-output mappings, and comment preservation settings to maintain consistency between graphical and robot programs automatically.
3Productivity
If 3D simulation is used for off-line programming, then production equipment is not tied up, but the simulation cannot represent all robot programming language features
Solution Approach 1:
The patent applies universality by designing a synchronization system that handles multiple types of robot programming features within a unified framework. The system can represent and synchronize various programming elements including motion instructions, program flow control, loops, conditions, input-output handling, and comments, making the 3D simulation capable of representing all robot programming language features while maintaining off-line programming capabilities.
Data Source
AI summary
A device and a method for synchronization of a robot program and a graphical program. The device includes a first converter adapted to convert a graphical program into a first sequence of tokens representing data for motions and actions contained in the graphical program. A second converter is adapted to convert the robot program into a second sequence of tokens representing data for motions and actions contained in the robot program. A modification command generator is adapted to compare the first and second sequences of tokens and based thereon generate modification commands. The first converter is adapted to receive the modification commands and edit the graphical program based on the modification commands so that the token sequence of the graphical program matches the token sequence of the robot program. The second converter is adapted to receive the modification commands and edit the robot program based on the modification commands so that the token sequence of the robot program matches the token sequence of the graphical program.