Robot Path Teaching Data for Spline Paths Through Teaching Points
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Solution Overview
Problem
Spline interpolation in robot path teaching data creation may shift interpolation points away from user-set teaching points, preventing processes from being performed at intended positions.
Innovation Solution
A path teaching data creation device and method that includes a spline interpolation unit generating interpolation points and a path teaching data creation unit ensuring the tool passes through each teaching point by adjusting position information of interpolation points to match teaching points, using a grouping and correction unit to accurately position the tool.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Shape
If spline interpolation is performed on teaching points, then a smooth spline path is generated connecting interpolation points, but the position of generated interpolation points may be shifted from teaching points, preventing processes from being performed at intended teaching point positions
Solution Approach 1:
The patent applies preliminary action by inserting teaching points at interpolation point positions before the tool executes the path. The system identifies where interpolation points will be generated by spline interpolation, then pre-places teaching points at those locations. This ensures that when the tool follows the spline path, it will pass through positions that correspond to both the smooth interpolated curve and the original teaching point locations, resolving the contradiction between path smoothness and position accuracy.
2Ease of operation
If teaching points are arranged at intervals with spline interpolation between them, then the tool path becomes smooth and continuous, but the tool may not pass through the exact positions of user-set teaching points
Solution Approach 1:
The system performs preliminary identification of interpolation point positions along the spline curve, then preemptively inserts teaching points at those locations. This preliminary action ensures that when the tool executes the path, it will naturally pass through both the smooth interpolated positions and the originally intended teaching point positions, maintaining both smooth operation and reliable process execution.
Solution Approach 2:
The patent employs feedback by using the spline interpolation results to determine where additional teaching points should be inserted. The system calculates the interpolated path, identifies positions where interpolation points will be generated, and uses this information to insert teaching points that ensure the tool passes through correct positions. This feedback loop between interpolation calculation and teaching point insertion maintains both smoothness and positional accuracy.
Data Source
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AI summary
An object is to provide path teaching data creation device, method, and program that can create path teaching data for a robot to reliably pass through a teaching point. A path teaching data creation device 20 includes: a spline interpolation unit 22 configured to perform spline interpolation based on given multiple teaching points and generate a plurality of interpolation points between adjacent teaching points of the multiple teaching points; and a path teaching data creation unit 23 configured to create path teaching data indicating a position through which a tool of a robot passes based on position information on the plurality of interpolation points generated by the spline interpolation unit 22 and position information on the multiple teaching points so that the tool passes through each position of the multiple teaching points.