Robot Program Modification via Real-Time Feedback Simulation
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Solution Overview
Problem
Conventional robot program modification systems struggle to accurately modify robot operation programs due to offline simulation limitations, which hinder precise judgment and modification of motor load and cycle time.
Innovation Solution
A robot program modification system that includes a robot control apparatus and a program modification apparatus, where the latter communicates with the former to acquire and simulate robot detection information, allowing for online modification of the operation program to satisfy predetermined evaluation parameters such as cycle time, motor load, and power consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If offline simulation is used to modify robot program, then program modification can be performed, but accurate judgment of motor load and precise program modification cannot be achieved
Solution Approach 1:
The system implements feedback by acquiring actual robot detection information (motor speed, current values, temperature) during operation and using this real data to iteratively refine the simulation model. The simulation results are compared with actual measurements, and the model parameters are adjusted until they match, ensuring accurate motor load judgment and reliable program modification.
Solution Approach 2:
The system performs preliminary simulation calculations offline to generate initial program modification candidates, then validates and refines these modifications using actual robot operation data. This preliminary action allows the system to prepare modification options in advance while ensuring their accuracy through subsequent real-data verification.
2Productivity
If offline simulation is used for program modification, then program can be modified, but cycle time optimization is limited
Solution Approach 1:
The system uses feedback from actual robot operation data (motor current, speed, temperature) to continuously refine the simulation model's accuracy. This ensures that cycle time optimization calculations are based on precise motor load measurements rather than theoretical offline estimates, enabling both productivity improvement and measurement accuracy.
Solution Approach 2:
The system transitions from static offline simulation to dynamic online simulation that adapts to actual robot operation conditions. By continuously updating the simulation model with real-time data, the system can dynamically optimize cycle time while maintaining accurate motor load measurement under varying operational conditions.
3Productivity
If robot program is modified to reduce cycle time, then productivity improves, but motor load may exceed permissible range
Solution Approach 1:
The system incorporates feedback loops that continuously monitor simulated motor load during cycle time optimization. The simulation calculates motor load at each step of the robot program, and if load exceeds permissible values, the optimization algorithm automatically adjusts the program parameters. This ensures productivity improvement while maintaining motor load compliance through iterative refinement.
Solution Approach 2:
The system performs preliminary simulation checks to identify program modifications that would cause motor overload before implementing them. By pre-calculating and validating modification candidates against motor load constraints, the system ensures that only safe, compliant programs are proposed for implementation.
Data Source
AI summary
A robot program modification system comprises a robot control apparatus and a program modification apparatus. The robot control apparatus has an information acquisition unit which executes an operation program and acquires robot detection information from a robot, and a communication unit which transmits the robot detection information to the program modification apparatus. The program modification apparatus has a simulation unit which performs simulation on the basis of the operation program, and a program modification unit which modifies the operation program on the basis of the robot detection information so that a result of the simulation satisfies an evaluation basis decided in advance.