Robot Program Adaptation for Mobility Range Mismatch
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Solution Overview
Problem
When replacing a robot with a different size, existing systems require operators to directly reinput operation programs, which is complex and inefficient, especially when the new robot's mobility range is smaller than the old robot's, leading to inoperability due to positions exceeding the new robot's reach.
Innovation Solution
A robot control device with a control unit that includes a mobility range determination unit and a modification unit, which analyzes the operation program to identify axes exceeding the new robot's mobility range and rewrites the program to ensure all axes operate within the new robot's capabilities, avoiding singular points that could render the robot inoperative.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the operation program from the old robot is loaded into the new robot control device, then the robot can execute the same operations as the old robot, but the robot becomes inoperative when positions in the program exceed the new robot's mobility range
Solution Approach 1:
The control device performs preliminary analysis of the operation program to detect positions exceeding the new robot's mobility range before execution. This advance detection allows the system to identify incompatible positions and prevent operational failures by stopping the program before the robot attempts to move to unreachable positions.
Solution Approach 2:
The control device acts as an intermediary between the old robot's operation program and the new robot's execution system. It translates and adapts the program by modifying positions that exceed mobility ranges, converting incompatible commands into valid ones that the new robot can execute within its physical constraints.
2Reliability
If the operator directly reinputs the operation program for the new robot, then the robot can operate within its mobility range, but the task becomes extremely complicated and time-consuming
Solution Approach 1:
The control device performs self-service by automatically analyzing, detecting, and modifying the operation program to suit the new robot's mobility constraints. This automated adaptation eliminates the need for operators to manually rewrite the entire program, reducing complexity and allowing the system to adapt itself without extensive human intervention.
Solution Approach 2:
The control device automatically changes positional parameters in the operation program that exceed the new robot's mobility range. By modifying these parameters to fall within acceptable limits while preserving the overall operation logic, the system adapts the program to the new robot's capabilities without requiring complete reinput.
3Productivity
If the new robot has a smaller size than the old robot, then the new robot may have better mobility and cost-effectiveness, but the existing operation program includes positions that the new robot cannot reach
Solution Approach 1:
The control device performs preliminary detection of positions exceeding mobility ranges before program execution. This advance analysis identifies which positions need modification, allowing the system to prepare appropriate corrections and ensure the new robot can execute the adapted program without encountering unreachable positions during operation.
Solution Approach 2:
The control device automatically modifies positional parameters in the operation program to match the new robot's reduced mobility range. By changing these parameters while maintaining the operational intent, the system enables the smaller robot to perform the same tasks within its physical constraints, preserving productivity despite size differences.
Data Source
AI summary
The purpose of the present invention is to eliminate the need, when a robot has been replaced with a new robot that is different in size, for an operator to directly re-input as operation program to make the robot operative. This robot control device comprises: a storage unit that stores an operation program; and a control unit that operates a robot is a robot coordinate system with three orthogonal axes. The control unit is provided with: a mobility range determination unit that determines whether there is, in the operation program, an axis, among the three orthogonal axes, that exceeds a mobility range of the robot; and a correction unit that, if it has been determined by the mobility range determination unit that there is an axis that exceeds the mobility range of the robot, rewrites the operation program so the axis is kept within the mobility range of the robot.