Offline Programming Device for Robot Position Parameter Correction

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Solution Overview

Problem

Existing offline programming devices for robots face challenges in automatically correcting position parameters when the reference coordinate system changes, requiring manual intervention and increasing man-hours for users to ensure absolute position consistency before and after the change.

Innovation Solution

An offline programming device with a matrix calculating portion to generate a conversion matrix, a parameter selecting portion to identify position parameters, and a parameter correcting portion to apply the conversion matrix, ensuring that position parameters are automatically corrected to maintain absolute position equality across coordinate system changes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If manual correction of position parameters is performed when coordinate system changes, then absolute position consistency can be ensured, but user workload and time consumption increase significantly

Engineering Contradiction:

Improveabsolute position consistencyVSAvoidtime for parameter correction

Core Design Contradiction:

Manufacturing precisionVSLoss of time

Solution Approach 1:

The system performs automatic self-correction of position parameters by calculating the coordinate transformation matrix and applying it to all position parameters automatically, eliminating the need for manual intervention while ensuring absolute position consistency is maintained

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The coordinate transformation matrix is calculated in advance when the coordinate system changes, and this matrix is then automatically applied to correct all position parameters before program execution, preventing the need for subsequent manual corrections

Inventive Principle:

Principle #10Preliminary action

2Ease of operation

If automatic correction of position parameters is implemented, then user workload is reduced, but system complexity increases

Engineering Contradiction:

Improveease of parameter correctionVSAvoidsystem structure

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

A coordinate transformation matrix serves as an intermediary that bridges the old and new coordinate systems, enabling automatic conversion of position parameters without requiring complex direct transformation logic throughout the system

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system changes the reference parameter (coordinate system) and automatically adjusts all position parameters based on the transformation matrix, maintaining simplicity by using parameter transformation rather than structural modification

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS10406691B2Offline programming device and position-parameter correcting method

Publication Date: 2019.09.10 FANUC LTD

AI summary

Provided is an offline programming device that generates, while being offline, a program for operating a robot, wherein, when a coordinate system that serves as a reference for the robot is changed, a position parameter generated on the basis of a coordinate system before the change is automatically corrected on the basis of the coordinate system before the change and a coordinate system after the change so that absolute positions of the position parameter become equal to each other before and after the change.