Industrial Robot Path Control for Uneven Surface Printing
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Solution Overview
Problem
Existing methods for controlling industrial robot movements on uneven surfaces, particularly for large objects, face challenges such as potential collisions, deteriorated printing performance, and computational inefficiencies due to the need to switch between multiple reference coordinate systems, which are time-consuming and difficult to manage.
Innovation Solution
A method that modifies target points for an industrial robot in an offline programming system using actual reference points indicative of the surface's true profile, eliminating the need for multiple reference coordinate systems, and enabling accurate and efficient control on non-planar surfaces by modifying candidate target points based on actual reference points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple reference coordinate systems are used to handle uneven surfaces, then the robot can adapt to surface variations, but the system complexity increases and switching between coordinate systems causes interruptions and performance deterioration
Solution Approach 1:
The large object surface is divided into multiple regions, each with its own reference coordinate system. The offline programming system automatically determines which reference coordinate system to use based on the current target point's location, eliminating the need for manual switching during robot operation.
Solution Approach 2:
All reference coordinate systems are pre-defined and stored in the offline programming system before robot operation begins. The system pre-calculates the appropriate reference coordinate system for each target point, so no switching is needed during actual robot execution, avoiding interruptions and performance deterioration.
2Manufacturing precision
If multiple reference coordinate systems are used for large objects, then surface variations can be accommodated, but the number of target points increases dramatically requiring dynamic loading during printing
Solution Approach 1:
The offline programming system pre-calculates and stores the appropriate reference coordinate system for each target point in the robot program. This preliminary preparation eliminates the need for dynamic loading and switching during robot operation, saving time and improving efficiency.
Solution Approach 2:
The system creates a virtual model of the large object with all reference coordinate systems embedded in the offline programming environment. This virtual copy allows all calculations and coordinate system assignments to be completed beforehand, transferring the complete program to the robot controller without needing to load additional data during operation.
3Adaptability or versatility
If multiple reference coordinate systems are set up, then printing on uneven surfaces becomes possible, but the setup process becomes time-consuming and difficult for users
Solution Approach 1:
The offline programming system automatically performs the complex task of setting up multiple reference coordinate systems and assigning them to appropriate target points. The system uses automated algorithms to determine the correct reference coordinate system for each region, eliminating the need for users to manually configure these complex parameters.
Solution Approach 2:
The offline programming system acts as an intermediary between the user and the complex multiple reference coordinate system setup. It provides a simplified interface where users only need to define the basic geometry, and the system automatically handles the complex coordinate system calculations and assignments, making the process easy and intuitive.
4Device complexity
If a single reference coordinate system is used, then the system remains simple, but collisions occur and printing performance deteriorates on uneven surfaces
Solution Approach 1:
The workspace is segmented into multiple regions, each with its own reference coordinate system tailored to the local surface geometry. This segmentation allows the robot to accurately follow the uneven surface contours in each region, preventing collisions while maintaining relative simplicity within each local coordinate system.
Solution Approach 2:
Each reference coordinate system is optimized for its specific local region of the uneven surface, with origin and orientation tailored to that region's geometry. This local optimization ensures high accuracy and collision avoidance in each area while keeping each individual coordinate system relatively simple.
Data Source
AI summary
A method of controlling movements of an industrial robot in relation to a surface, the method including providing a plurality of candidate target points for the industrial robot in an offline programming system; providing a plurality of actual reference points in the offline programming system, the actual reference points being indicative of a true profile of the surface; modifying the candidate target points in the offline programming system based on the actual reference points to provide a plurality of modified target points for the industrial robot; providing a target robot program for the industrial robot based on the modified target points; and executing the target robot program in a robot controller to thereby cause the industrial robot to perform movements in relation to the surface.