Robot Path Extension Beyond Final Target for Complete Work Coverage
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Solution Overview
Problem
In existing robot control systems, there is a risk of misalignment between the target position set for the robot and the actual workpiece, leading to incomplete work and unworked portions near the end of the work target.
Innovation Solution
A control device and method for a robot that includes setting multiple target positions based on shape data representing the workpiece, and automatically setting an additional target position beyond the final target position to ensure completion of the work along the work target portion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot is positioned at target positions based on shape data, then the work follows the work target portion, but the target position may misalign from the actual workpiece causing incomplete work
Solution Approach 1:
The patent applies preliminary action by setting an additional target position beyond the final target position before the robot executes the work. This advance positioning ensures that even if misalignment occurs, the robot will still complete the work up to the actual end of the work target portion. The additional target position is calculated in advance based on the distance from the final target position to the end of the work target portion.
2Productivity
If the robot stops at the final target position corresponding to the end of the work target portion, then the operation is efficient, but a portion near the end may remain unworked due to misalignment
Solution Approach 1:
The patent applies partial or excessive action by extending the robot's movement beyond the final target position to an additional target position. This excessive action ensures that the robot covers the entire work target portion including the end area, even though the additional movement beyond the nominal end position may seem unnecessary. This approach prioritizes complete work coverage over minimal movement.
3Reliability
If an additional target position is set beyond the final target position, then the work is reliably completed, but the operation time increases
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the number of target positions based on the specific work requirements. The system calculates the distance from the final target position to the end of the work target portion and sets the additional target position only when necessary. This conditional approach to parameter modification balances reliability improvement with time efficiency.
Data Source
AI summary
A control device of a robot includes a robot control section configured to control the robot so as to sequentially position the robot at a plurality of target positions, which are set based on shape data representing a shape of a workpiece, and cause the robot to execute a work along a work target portion on the workpiece, and cause the robot to continue the work beyond a final target position of the plurality of target positions after the robot reaches the final target position, the final target position being set to correspond to an end of the work target portion in the shape data.