Robot Program Correction via Load Simulation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The existing methods for correcting robot operation programs require significant labor and time, as they often involve trial and error when adjusting speed and acceleration commands for servo motors, and correcting deviations in the operation route, especially when setting up robots in manufacturing systems.
Innovation Solution
A method and device that utilize computer simulations to calculate and evaluate the load on servo motors, allowing for the correction of speed and acceleration commands, and shifting pseudo teaching points to minimize deviations, thereby reducing the time needed to set up robots by enabling off-line evaluation and correction of robot operation programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If speed command and acceleration command are corrected at work-site by checking duty ratio with teaching panel, then the robot operation program can be adjusted to match actual conditions, but the correction process requires trial and error and consumes large amount of labor time
Solution Approach 1:
The patent performs load calculation and duty ratio evaluation through computer simulation before the robot is deployed to the work-site. By calculating the duty ratio for each motion segment offline and identifying segments that exceed the allowed duty ratio, the system prepares correction data in advance, eliminating the need for time-consuming trial and error adjustments at the work-site.
Solution Approach 2:
The patent creates a virtual copy of the robot system through computer simulation, including a simulation model of the robot and its operating environment. This virtual model allows for offline evaluation and correction of the operation program, transferring the corrections to the actual robot system afterward, thus avoiding repeated on-site adjustments.
2Manufacturing precision
If teaching points are touched and shifted gradually for each point to correct operation route deviation, then the robot can accurately follow the target operation route, but the process takes very long time to complete
Solution Approach 1:
The patent performs route deviation correction through computer simulation before on-site deployment. By calculating the deviation between the target operation route and the simulated actual route, and automatically shifting teaching points in the virtual environment, the system prepares corrected operation data in advance, reducing on-site adjustment time.
3Loss of time
If off-line robot operation program is used directly at work-site, then setup time is reduced, but the program seldom works correctly due to differences in relative positional relations and robot posture between off-line and on-line states
Solution Approach 1:
The patent performs comprehensive evaluation of the off-line operation program through computer simulation before deployment, calculating loads, duty ratios, and route deviations in advance. This preliminary evaluation identifies issues that need correction, allowing the system to prepare corrected operation data before on-site implementation.
Solution Approach 2:
The patent uses simulation results as feedback to iteratively improve the operation program. By comparing simulated actual performance with target specifications and automatically adjusting teaching points and motion parameters, the system refines the operation program before final deployment, ensuring better functionality at the work-site.
Data Source
AI summary
There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.