Robot Motion Limit Switching With Scene Confirmation
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Solution Overview
Problem
Existing robot control systems fail to consider various factors beyond the type and number of workpieces, leading to increased user workload and potential incorrect setting of limit parameters, which can result in unsafe robot operation.
Innovation Solution
A robot control system that displays and allows users to confirm and correct limit parameters before switching scenes, ensuring accurate setting by temporarily stopping the motion program and displaying new limit parameters on a display.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If limit parameters are set for each scene based on various factors including robot-human cooperation and surrounding environment, then the robot operation safety is improved, but the user workload for setting parameters increases significantly
Solution Approach 1:
The system performs preliminary actions by automatically generating limit parameters for each scene before the user needs to use them. The parameter generation unit creates speed upper limit values, acceleration upper limit values, and position upper limit values based on scene information, robot configuration, and workpiece characteristics, so that when the user switches to a scene, the parameters are already prepared and only confirmation is needed.
Solution Approach 2:
The system enables self-service by allowing the parameter generation unit to automatically generate appropriate limit parameters without requiring the user to manually set each parameter for every scene. The system uses stored robot configuration information, workpiece information, and scene information to autonomously determine suitable parameter values, reducing user intervention to simple confirmation.
2Adaptability or versatility
If the number of limit parameters to be set is increased to cover all possible scenes, then the coverage of safety parameters is improved, but the complexity of parameter setting increases
Solution Approach 1:
The system segments the parameter setting process into automatic generation and user confirmation phases. The parameter generation unit handles the complex calculation and generation of multiple limit parameters (speed, acceleration, position) for each scene, while the user interface presents these parameters in a structured format for easy confirmation, separating the complex generation logic from the simple confirmation action.
Solution Approach 2:
The parameter generation unit serves multiple functions: it generates speed upper limit values, acceleration upper limit values, and position upper limit values for various scenes involving different robot configurations, workpiece types, and cooperation modes. This single unit handles diverse parameter generation needs across all scenes, providing universal parameter coverage without requiring separate setting mechanisms for each parameter type.
3Productivity
If limit parameters are switched automatically when scenes are switched, then the operation efficiency is improved, but the risk of using incorrect parameters increases
Solution Approach 1:
The system implements feedback by displaying the generated limit parameters on the display unit before the scene switch is finalized. The user can review the speed upper limit value, acceleration upper limit value, and position upper limit value that will be applied, and confirm or correct them before the switch takes effect. This feedback loop ensures parameter accuracy while maintaining operational efficiency.
Solution Approach 2:
The system applies preliminary anti-action by preventing the scene switch and parameter application until the user confirms the generated parameters. The parameter switching is blocked pending user verification, which counteracts the potential harm of incorrect parameter application. This preliminary check ensures that only verified correct parameters are applied to the robot operation.
Data Source
AI summary
A robot control system displays, on the display, information relating to a robot, sets a limit parameter set for limiting a motion of the robot based on an input by a user, the limit parameter set corresponding to a scene in which the robot moves, and executes a motion program of the robot, where execution of the motion program: (a) applies the limit parameter set to the robot, and switches the limit parameter set applied to the robot, (b) controls a motion of the robot according to the limit parameter set applied to the robot, and (c) stops execution of the motion program prior to switching from a first limit parameter set, which is the limit parameter set, to a second parameter set, which is a limit parameter set that is different from the first limit parameter set, and displays the second limit parameter set on the display.