Robot Program Layout Generation With Collision and Reach Checks
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Solution Overview
Problem
Offline robot programming requires extensive knowledge and time due to the need for layout creation, program development, and simulation, especially when considering the interference between stationary and operating elements in a robot system, which complicates the generation of efficient robot programs.
Innovation Solution
A robot program generation apparatus that allows for the selection of typical arrangement patterns, automatic generation of layouts and programs, and virtual execution, with the ability to modify installation positions and correct programs based on interference and reachability, reducing manual hours and optimizing cycle time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If offline programming is performed with manual layout creation and simulation, then the robot program can be generated with high precision, but a large amount of time and manual effort is required
Solution Approach 1:
The system pre-defines multiple arrangement patterns (first, second, third patterns) with predetermined layouts of peripheral devices relative to the robot. These patterns are stored in advance with associated robot programs, allowing the operator to quickly select from pre-prepared configurations rather than creating layouts from scratch. This preliminary preparation significantly reduces the time required for offline programming while maintaining program generation accuracy.
Solution Approach 2:
The system allows dynamic switching between different arrangement patterns by changing the layout configuration parameters. When a collision or reachability issue is detected in the current pattern, the system automatically modifies the layout parameters (positions of peripheral devices) and selects an alternative predetermined pattern, thereby resolving conflicts without requiring complete manual reprogramming.
2Adaptability or versatility
If the layout is customized to meet specific user requests and environmental constraints, then the robot system can be adapted to specific applications, but the simulation requires more man-hours
Solution Approach 1:
The system provides multiple universal arrangement patterns that can accommodate different application scenarios. Each pattern represents a standardized configuration that has been pre-validated for various robot types and peripheral device combinations. Operators can select from these universal patterns based on their specific application needs, achieving adaptability without requiring complex custom layouts.
Solution Approach 2:
The arrangement patterns are segmented into distinct, independently selectable configurations (first pattern, second pattern, third pattern). Each pattern segment represents a complete, self-contained layout solution that can be chosen based on specific requirements. This segmentation allows operators to combine different patterns or modify individual elements without affecting the entire layout, maintaining ease of operation while achieving customization.
3Productivity
If the robot program is generated automatically without considering interference between elements, then the program generation is fast, but the robot may collide with peripheral devices during operation
Solution Approach 1:
The system incorporates automatic collision detection feedback in the virtual environment. When the robot program is generated from a selected arrangement pattern, the system simulates the robot's movement and automatically detects any potential collisions with peripheral devices. If a collision is detected, the system provides feedback by identifying the conflicting elements and automatically switches to an alternative arrangement pattern, ensuring collision-free operation while maintaining fast program generation.
Solution Approach 2:
The system performs preliminary collision detection and prevention by selecting from multiple predetermined arrangement patterns before actual robot operation. Each pattern is pre-configured with specific spatial relationships between the robot and peripheral devices that have been designed to avoid interference. By choosing an appropriate pattern in advance, the system prevents collisions before they can occur during real robot operation.
4Manufacturing precision
If the robot program is generated for a specific arrangement pattern, then the program can be optimized for that pattern, but it cannot be easily adapted to other patterns
Solution Approach 1:
The system stores multiple robot programs corresponding to different arrangement patterns, with each program optimized for its specific pattern. The programs contain parameters that are linked to the arrangement pattern identifiers. When the operator changes from one arrangement pattern to another, the system automatically retrieves and loads the corresponding optimized program, maintaining program optimization for the current pattern while enabling easy adaptation to other patterns through parameter switching.
Data Source
AI summary
A robot program generation apparatus that selects a typical arrangement pattern of a robot system; selects elements to be arranged in the arrangement pattern; automatically generates a layout where the elements in a stationary state do not interfere with each other; automatically generates a robot program in accordance with task details corresponding to the arrangement pattern and with the layout; executes the robot program in a virtual environment and automatically modifies installation positions of the elements in the layout based on whether or not the robot in an operating state interfere with any other elements and on whether or not the robot can reach a workpiece; and corrects the robot program based on the installation positions.