Robot Program Generation for Bulk Workpiece Contact Operations
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Solution Overview
Problem
Existing robot programs for taking out workpieces stacked in bulk from irregular positions in containers often require specialized knowledge and can lead to collisions, damaging the robot, container, and workpieces if created incorrectly.
Innovation Solution
A program generation apparatus that generates a robot program for a contact operation, allowing the robot to change the position and orientation of workpieces using shifting or pinching operations, enabling them to be taken out with a normal take-out operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robot program is created manually using specialized knowledge, then the robot can execute complex contact operations to move workpieces, but the risk of collision and damage increases and the operation becomes difficult
Solution Approach 1:
The system automatically generates robot programs by acquiring actual robot hand positions during execution and calculating contact operation parameters autonomously. The program generation apparatus serves itself by using real-time robot state data to create movement instructions without requiring external specialized programming knowledge, thereby improving ease of operation while maintaining reliability through automated collision-aware path planning
Solution Approach 2:
The patent replaces manual mechanical programming with automated computational program generation. Instead of manually creating robot movement programs based on specialized knowledge, the system uses computer-based automatic program generation that acquires robot hand positions and calculates contact operations automatically, substituting human expertise with automated algorithms to reduce collision risk and simplify operation
2Productivity
If the robot hand moves to grasp a workpiece at an irregular position, then the workpiece can be retrieved, but the robot may collide with the container wall
Solution Approach 1:
The system performs preliminary calculation of contact operation parameters before the robot executes the movement. The program generation apparatus calculates the robot hand movement trajectory and contact point in advance based on the target workpiece position and container geometry, ensuring the path is collision-free before the robot actually moves, thus enabling retrieval of irregularly positioned workpieces without wall collision
Solution Approach 2:
The patent introduces a program generation apparatus as an intermediary between the robot control system and the workpiece retrieval task. This intermediary automatically generates safe movement programs by calculating robot hand positions and contact operations based on target workpiece locations and container constraints, mediating between the need to reach irregular positions and the need to avoid wall collisions
Data Source
AI summary
An object is to facilitate creation of a robot program for moving a workpiece in a container. A program generation apparatus 2 according to the present embodiment includes: reception means 21 for receiving, on a workpiece coordinate system, a start position and a start posture for starting a contact operation for contacting a workpiece stacked in bulk in a container 300, and a movement amount and a posture change amount of the contact operation, and generation means 27 for generating a robot program for a target workpiece in the container, based on the received start position, start posture, movement amount, and posture change amount.