Robot Path Generation Using Non-Maximum Axis Interference Avoidance
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Solution Overview
Problem
Conventional path generation methods for industrial robots are inefficient in generating an optimum path that minimizes motion time while avoiding interference, often requiring repeated modifications and resulting in path variability across trials.
Innovation Solution
A path generation device that calculates the maximum displacement axis, generates initial passing points, extracts interference areas, and modifies non-maximum displacement axes to avoid interference, thereby optimizing the path and reducing motion time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If random number values are added to modify passing points during path generation, then interference avoidance is achieved, but the path varies from trial to trial and optimum path cannot be guaranteed
Solution Approach 1:
The patent changes the parameter generation method from random to systematic. Instead of adding random number values to modify passing points, the system calculates parameter values (such as passing point positions and axis modification amounts) based on predetermined rules and calculations. This ensures that the same start and end points always generate the same path, eliminating trial-to-trial variation while maintaining interference avoidance capability through calculated parameter adjustments.
2Duration of action of moving object
If repeated modification of passing points is performed to obtain optimal path, then motion time is reduced, but relatively long time is required for path determination
Solution Approach 1:
The patent performs preliminary calculations to determine optimal passing points and axis modification amounts before actual path execution. By calculating the maximum displacement axis and predetermined modification amounts in advance based on start and end points, the system eliminates the need for repeated trial-and-error modifications during path determination, significantly reducing path search time while still achieving optimal motion time.
3Productivity
If maximum displacement axis is calculated and only non-maximum axes are modified, then path generation efficiency is improved, but complexity of axis coordination increases
Solution Approach 1:
The patent segments the axis control into two distinct parts: the maximum displacement axis that maintains original passing points, and non-maximum displacement axes that are modified to avoid interference. This segmentation simplifies the control strategy by clearly defining which axes to modify and which to keep unchanged, reducing overall coordination complexity while maintaining path generation efficiency.
Data Source
AI summary
A path generation device includes maximum displacement axis calculation means that calculates a maximum displacement axis among multiple axes, where the maximum displacement axis has a highest ratio of a displacement distance relative to a maximum speed in a motion from a motion start point to a motion end point; initial passing point calculation means that generates passing points to be used when the multiple axes move in synchronization with one another; interference area extraction means that extracts a section including a passing point on which interference with a surrounding object will occur, among multiple passing points generated by the initial passing point calculation means; and non-maximum displacement axis modification means that generates a passing point that leads to avoidance of interference, by modifying a position of a non-maximum displacement axis, which is, among the multiple axes, an axis other than the maximum displacement axis calculated.