Robot Path Programming With Virtual Grinding Pose Reorientation
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Solution Overview
Problem
Conventional robot programming methods face challenges in efficiently programming robots to traverse paths with desired orientations and reorientations, especially when different orientations are required on successive straight-line movements, leading to complex and inefficient programming processes.
Innovation Solution
A method and system for generating robot programs that utilize grinding sets with parameterizable grinding poses, approaches to and from path sections, and deviation distances, allowing for flexible and efficient programming of robot paths, including reorientations and deviations, by specifying grinding poses as virtual starting points and allowing for parameterization of approaches and deviations from path sections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional movement sets are used to traverse straight lines with different orientations, then the robot can follow the path, but the programming becomes complex and inefficient due to the need for reorientation after each movement set
Solution Approach 1:
The movement set is segmented into distinct functional components: a grinding set for reorientation and positioning, and a successive movement set for path traversal. This segmentation allows each component to have a specialized function, simplifying the overall programming structure by clearly separating reorientation operations from path-following operations.
Solution Approach 2:
The grinding pose is defined as a virtual starting pose before the successive movement set is executed. This preliminary action of reorienting and repositioning the robot at the grinding pose simplifies subsequent programming by establishing a known reference state, eliminating the need for complex reorientation calculations after each movement set.
2Manufacturing precision
If the robot reorients the TCP after traversing straight lines to align with machining surfaces, then the desired orientation is achieved, but the programming process becomes time-consuming and complex
Solution Approach 1:
The grinding pose is calculated and established in advance as a virtual starting pose that incorporates the desired orientation for the next path section. This preliminary calculation of the grinding pose, including the approach from the previous path section and the approach to the next path section, eliminates the need for time-consuming reorientation operations during execution and simplifies programming.
Solution Approach 2:
The grinding pose acts as an intermediary virtual state between successive movement sets. It serves as a mediator that connects the end pose of one movement set with the start pose of the next, incorporating all necessary reorientation and repositioning operations in a single parameterized definition, thereby reducing programming time and complexity.
3Reliability
If multiple movement sets are used to specify the robot path, then the path can be defined in detail, but the programming becomes less flexible when reorientations are required
Solution Approach 1:
The grinding set is designed as a multi-functional movement set that simultaneously performs multiple functions: it reorients the TCP, repositions the robot, and defines the virtual starting pose for the successive movement set. This universality allows a single parameterized definition to handle what would otherwise require multiple separate movement sets, enhancing programming flexibility while maintaining path specification accuracy.
Solution Approach 2:
The grinding pose and its associated approaches are parameterized, allowing dynamic adjustment of the reorientation and repositioning operations. This dynamic parameterization enables the programming to adapt to different path requirements and orientation needs without changing the fundamental program structure, thereby improving both flexibility and reliability.
Data Source
AI summary
A method for generating a robot program for a robot includes generating a robot program for traversing a robot path, the program having a plurality of movement sets for specifying the path, at least one of which has a specified target pose of a reference of the robot. At least one of the movement sets is a grinding set for which a grinding pose as a virtual starting pose for a successive movement set, an approach to a path section specified by the successive movement set, and an approach from a path section specified by a preceding movement set can be parameterized. A robot path may be traversed by a robot by executing the generated robot program.