Robot and Linear Tool Motion Control for Single-Point Teaching
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Solution Overview
Problem
Creating operation programs for a six-axis robot equipped with a linear tool requires significant teaching experience and time, especially when operators have little experience, due to the need to separately specify travel distances of the robot and linear tool.
Innovation Solution
A control device and method that calculates a total travel range and sets travel amounts for a robot and attached articulated shaft based on an operation program, allowing operation programs to be created by teaching a single point, using an operation program analysis unit and a robot/tool travel distance calculation unit to determine travel amounts to specified values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If travel distances of the six-axis robot and linear tool are specified separately, then the robot system can achieve precise positioning, but the operation program creation requires significant teaching experience and time
Solution Approach 1:
The patent combines the separate specification of robot travel distance and linear tool travel distance into a single integrated specification method. The control device calculates both travel distances based on a single specified value (such as workpiece position or tool position), eliminating the need for operators to separately specify and coordinate multiple distance parameters. This merging approach maintains positioning precision while dramatically reducing program creation time and the need for teaching experience.
Solution Approach 2:
The control device acts as an intermediary that automatically calculates and coordinates the travel distances of both the robot and linear tool. Instead of requiring the operator to directly specify both distances, the control device receives a single specification (e.g., desired workpiece position) and automatically determines the appropriate travel distances for both components, serving as a mediator that translates high-level intent into detailed motion parameters.
2Ease of operation
If operators with little experience create operation programs, then accessibility to the technology improves, but the program creation requires more man-hours and longer time
Solution Approach 1:
The control device provides self-service functionality by automatically calculating travel distances and generating motion parameters without requiring operator expertise. The system performs the complex calculation and coordination tasks that would normally require experienced operators, allowing anyone to create accurate operation programs by simply specifying high-level parameters such as workpiece position or tool position.
Solution Approach 2:
The control device performs preliminary calculations of travel distances before execution. By pre-calculating the appropriate travel distances for both the robot and linear tool based on the specified parameters, the system prepares all necessary motion parameters in advance, eliminating the need for operators to perform time-consuming manual calculations and adjustments during program creation.
3Device complexity
If a single teaching point is taught, then the simplification of program creation is achieved, but the calculation of total travel range and coordination becomes more complex
Solution Approach 1:
The control device implements dynamic calculation capabilities that automatically adapt to different teaching scenarios. When a single teaching point is specified, the system dynamically calculates the appropriate travel distances for both the robot and linear tool based on the current configuration and desired position. This dynamic approach allows the system to handle the complexity of coordinated motion automatically, maintaining simplicity for the operator while providing sophisticated automated calculation in the background.
Data Source
AI summary
A control device controls a robot and an articulated shaft of the robot, the articulated shaft being attached to the distal end of an arm of the robot. The control device includes an operation program analysis unit that calculates a movable range of a combination of the robot and articulated shaft based on an operation program, and a robot/tool moving distance calculation unit that, based on the calculated movable range, sets an amount of movement of the articulated shaft for moving the articulated shaft to a boundary position as a specified value, and calculates the amount of movement of the distal end of the arm when the articulated shaft is moved to the boundary position, and the amounts of movement of the articulated shaft and the distal end of the arm of the robot for at least one teaching point other than the boundary position.