Robot Motion Program Optimization via Attainable Posture Filtering
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Solution Overview
Problem
Existing robot motion programs created using orthogonal coordinate systems often include unworkable end-effector posture candidates, leading to inefficient motion simulations and suboptimal execution, as they do not consider the robot's attainable forms, resulting in potential improvements being overlooked.
Innovation Solution
An optimization assistance device that acquires position data, designates and filters attainable robot postures, generates motion programs by combining valid postures, and selects the optimal program based on evaluation indices like cycle time or power consumption, ensuring the motion program can be executed without changing the robot's arrangement or position coordinates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If motion simulation is performed for all combinations of end-effector postures, then comprehensive optimization is achieved, but unworkable candidates are included increasing simulation time
Solution Approach 1:
The patent applies preliminary action by performing posture attainability determination BEFORE motion simulation. The posture attainability determination unit checks whether each end-effector posture can be achieved by the robot based on its mechanical constraints, eliminating unworkable candidates before they enter the simulation process. This preliminary filtering step prevents wasted simulation time on impossible postures while maintaining comprehensive optimization for all feasible candidates.
2Measurement precision
If orthogonal coordinate values are used to designate robot position, then position accuracy is achieved, but multiple forms satisfy the conditions requiring additional axis configuration designation
Solution Approach 1:
The patent applies self-service by enabling the system to automatically determine posture attainability and select optimal configurations without requiring manual axis configuration designation. The posture attainability determination unit autonomously evaluates which of the multiple possible forms can be achieved by the robot's mechanical constraints, and the motion program generation unit automatically selects appropriate configurations. This eliminates the manual effort previously needed while maintaining precise position designation through orthogonal coordinates.
3Reliability
If motion simulation includes all posture candidates, then optimal motion program can be found, but simulation includes unworkable candidates reducing efficiency
Solution Approach 1:
The patent applies preliminary action by performing posture attainability determination BEFORE motion simulation. The posture attainability determination unit checks whether each end-effector posture can be achieved by the robot based on its mechanical constraints, eliminating unworkable candidates before they enter the simulation process. This preliminary filtering step prevents wasted simulation time on impossible postures while maintaining comprehensive optimization for all feasible candidates.
Solution Approach 2:
The patent applies the extraction principle by removing unworkable posture candidates from the simulation set. The posture attainability determination unit identifies and extracts only the feasible candidates that can be actually achieved by the robot, separating them from the impossible ones. This ensures that motion simulation is performed exclusively on workable candidates, maintaining optimality while improving processing efficiency.
Data Source
AI summary
An optimization assistance device comprises: a position data acquisition unit for acquiring a plurality of items of position data pertaining to coordinate values of an orthogonal coordinate system from a movement program of a robot; an orientation provisional designation unit for provisionally designating, for each of the plurality of items of position data, a plurality of shapes that can be attained by the robot, and excluding shapes that cannot be attained by the robot; a movement program generation unit for combining the remaining shapes for each of the plurality of items of position data and generating a plurality of movement programs; and a movement program selection unit for simulating each of the plurality of movement programs, calculating evaluation index values, and selecting the movement program having the lowest evaluation index value as an optimal movement program.