Robot Program Execution Policy for Unverified Movement Paths
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Solution Overview
Problem
Industrial robots are prone to damage due to inaccurate positioning, collisions, and programming errors, despite simulation-validated programs, as virtual environments often fail to predict physical reality accurately.
Innovation Solution
A method to identify potentially harmful movement instructions in robot programs and apply a policy to restrict their execution, using a collection of verified locations and fingerprint-based verification to ensure safety and compliance with quality and safety norms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If simulation validation is used to verify robot paths, then programming efficiency is improved, but reliability deteriorates because virtual environments fail to predict physical reality accurately
Solution Approach 1:
The system performs preliminary verification of movement instructions against a database of verified locations before actual robot execution. This advance checking prevents potentially harmful movements from being executed, bridging the gap between simulation validation and physical safety by establishing a pre-execution safety barrier.
Solution Approach 2:
A verification system acts as an intermediary between the simulation environment and physical execution. This intermediary layer checks movement instructions against verified location databases, serving as a bridge that translates simulation validity into physical safety by preventing execution of unverified movements.
2Reliability
If excessive safety margins are applied in programming, then reliability is improved, but productivity deteriorates due to reduced robot efficiency and performance
Solution Approach 1:
Instead of applying uniform safety margins throughout the robot's workspace, the system verifies locations individually and maintains verified status for safe locations. This allows the robot to operate with high efficiency in verified safe zones while applying safety checks only where necessary, eliminating excessive conservative restrictions.
Solution Approach 2:
The system applies verification checks selectively rather than universally. By verifying only critical locations and maintaining a database of verified safe positions, the system achieves adequate safety without the excessive restrictions that would result from applying safety margins to all possible positions, thus preserving robot efficiency.
3Reliability
If comprehensive location verification is performed for all movement instructions, then reliability is improved, but device complexity increases
Solution Approach 1:
Locations are verified in advance and stored in a database before actual robot execution. This preliminary verification approach eliminates the need for complex real-time verification during robot operation, reducing computational complexity while maintaining comprehensive safety coverage.
Solution Approach 2:
Instead of performing complex verification calculations during robot execution, the system creates a copy of verified location data in a database. The robot controller simply checks against this pre-computed database during operation, replacing complex real-time verification with simple data lookup operations.
Data Source
AI summary
A method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions. In the method, identification information related to a robot installation is obtained, and it is determined, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is non-verified with respect to the robot installation, wherein a location is a pose, a path and/or a modulated path. If this is true, the method applies a policy which restricts execution of the program.