Robot Posture Selection for Work Path and Air-Cut Transitions
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Solution Overview
Problem
Existing robot path generation systems face inefficiencies in determining optimal postures for robots in connection areas between work paths and air-cut paths, leading to suboptimal operation programs that affect robot operation efficiency.
Innovation Solution
A program generation system that sets multiple candidate postures in connection areas, evaluates operation programs by changing robot postures among these candidates, and determines the optimal posture based on evaluation results to generate efficient operation programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single fixed posture is used for the robot in the connection area, then the operation program is simple to generate, but the robot operation efficiency is suboptimal
Solution Approach 1:
The patent changes the posture parameter of the robot by evaluating multiple candidate postures (different posture angles) in the connection area between work path and air-cut path. The system calculates operating times for each candidate posture and selects the optimal one, thereby improving robot operation efficiency without requiring complex manual programming.
Solution Approach 2:
The system automatically determines the optimal robot posture by evaluating multiple candidates and selecting based on operating time calculations. This self-service approach allows the robot control system to autonomously optimize its own operation parameters, improving efficiency without external intervention while keeping the programming process relatively simple.
2Productivity
If multiple candidate postures are evaluated, then the robot operation efficiency is improved, but the computation time increases
Solution Approach 1:
The patent evaluates multiple candidate postures (excessive action) to ensure optimal robot operation efficiency is achieved. By considering more postures than strictly necessary, the system guarantees finding the best solution, and the computation time overhead is acceptable given the significant improvement in overall robot productivity.
Solution Approach 2:
The system performs preliminary evaluation of multiple candidate postures before generating the final operation program. By pre-calculating and comparing different posture options, the system identifies the optimal posture in advance, which then guides the generation of the efficient operation program without excessive real-time computation.
3Extent of automation
If automatic posture determination is implemented, then the operation program generation is automated, but the system complexity increases
Solution Approach 1:
The patent implements automatic posture determination by introducing feedback mechanisms where the system calculates operating times for different candidate postures, compares them, and selects the optimal one. This feedback loop automates the posture selection process, reducing manual programming effort while the structured feedback mechanism keeps system complexity manageable.
Solution Approach 2:
The system introduces an intermediary evaluation process that mediates between multiple candidate postures and the final operation program generation. This intermediary layer automatically compares and selects optimal postures based on calculated operating times, automating the decision-making process while maintaining clear system architecture and manageable complexity.
Data Source
AI summary
A program generation system according to an example includes circuitry configured to: set multiple kinds of candidate postures of a robot in a connection area between a work path that is a trajectory of the robot in a task and an air-cut path that is a trajectory of the robot connecting tasks; evaluate an operation program including the work path and the air-cut path while changing a posture of the robot in the connection area among the multiple kinds of candidate postures; determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in the evaluating; and generate the operation program.