Industrial Robot Programming With Tool Demonstration and External Axis Sync
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Solution Overview
Problem
Existing methods for programming industrial robots are complex and difficult for small and medium-sized enterprises to implement, especially when dealing with external axes that require additional manipulation during the programming process.
Innovation Solution
A method and system for programming industrial robots that utilize a tool model moved by a user to demonstrate tasks, acquiring reachable posture data to generate executable codes for both the robot and external axes, allowing for synchronization and simultaneous control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robot programming methods are used, then programming precision can be achieved, but device complexity and difficulty of operation increase significantly
Solution Approach 1:
The patent uses a tool model as a copy of the actual tool to demonstrate tasks. The tool model replicates the tool's movements and operations, allowing craftsmen to teach robots by physical demonstration rather than complex coding. This copying approach transfers skills directly from human operators to robots while avoiding programming complexity.
Solution Approach 2:
The patent introduces an intermediary system that captures tool model demonstrations and converts them into robot executable code. This intermediary layer translates physical demonstrations into programming instructions automatically, bridging the gap between simple demonstration and precise robot execution without requiring users to write complex programs.
2Adaptability or versatility
If external axis is added to handle unreachable poses, then robot versatility improves, but device complexity and programming difficulty increase
Solution Approach 1:
The patent merges the control of the robot and external axis into a unified demonstration system. By using the tool model to demonstrate tasks that involve both robot movements and external axis operations simultaneously, the system captures coordinated movements in a single demonstration process, avoiding the need for separate programming of each component.
Solution Approach 2:
The patent performs preliminary coordination by having the external axis and robot work together during the demonstration phase. The system pre-coordinates the external axis movements with robot movements by capturing them simultaneously during tool model demonstration, so that the synchronized control is already established before actual execution.
3Ease of operation
If program by demonstration is used, then ease of operation improves, but programming precision deteriorates when demonstrated poses are unreachable
Solution Approach 1:
The patent makes the system dynamic by allowing the external axis to move and adjust during the demonstration process. When the robot cannot reach certain poses, the external axis dynamically repositions the workpiece or adjusts its orientation, enabling the tool model to continue demonstrating tasks without interruption while maintaining pose accuracy.
Data Source
AI summary
A method includes acquiring a first set of reachable posture data of a tool model by moving the tool model around a first portion of a workpiece in a reachable area of the robot, the tool model being held and moved by a user without being held by the robot; in response to the first portion of the workpiece being processed by the tool model, causing the tool model to emit a control signal to move the workpiece such that a second portion of the workpiece is within the reachable area of the robot; acquiring a second set of reachable posture data by moving the tool model around the second portion of the workpiece; and generating, at least based on the first set of reachable posture data, the control signal and the second set of reachable posture data, a first and a second executable code.