Robot Path Control With Overrun Target Positions at Workpiece Ends
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Solution Overview
Problem
The target position of a robot may misalign from the actual workpiece, leading to incomplete work on the workpiece, particularly at the end of the work target portion.
Innovation Solution
A control device and method that sets additional target positions beyond the final target position, based on shape data, to ensure the robot continues working beyond the end of the work target portion, using a robot control section, target position setting, and additional target position setting to define operation programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot positions itself at target positions based on shape data, then the work can be automated and efficiently executed, but the target position may misalign from the actual workpiece end, causing incomplete work
Solution Approach 1:
The system performs preliminary action by setting an additional target position beyond the final target position before the robot executes the work. This additional target position is calculated based on the work target portion extension direction and predetermined distance, ensuring the robot will definitely cover the entire work area including the actual end of the work target portion even if there are positioning deviations.
Solution Approach 2:
The system applies preliminary anti-action by proactively compensating for potential positioning errors through the additional target position. Instead of waiting for misalignment to occur and then correcting it, the system pre-establishes a buffer zone beyond the calculated final target position, preventing incomplete work before it happens.
2Device complexity
If the robot stops at the final target position corresponding to the end of work target portion in shape data, then the operation program is simple and efficient, but a portion near the end may be unworked due to misalignment
Solution Approach 1:
The operation program generation section automatically incorporates the additional target position into the operation program before robot execution. This maintains program simplicity while ensuring reliability, as the additional position is calculated systematically based on work target portion data and extension direction, rather than requiring complex manual adjustments during execution.
3Area of stationary object
If the target position is set exactly at the end of the work target portion, then the work coverage is maximized, but any positioning error will result in unworked portions
Solution Approach 1:
The system applies local quality by creating a localized buffer zone (additional target position) specifically at the critical end region of the work target portion. This buffer zone is determined by the work target portion extension direction and predetermined distance, providing enhanced coverage only where needed most without affecting the overall work efficiency or requiring increased buffer zones throughout the entire work path.
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.