Robot End Effector Return Path Control on Reciprocating Routes
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Solution Overview
Problem
Existing robot control methods for returning to an origin position can be complex, especially when the robot operates on a reciprocating path, as they often require reversing the entire control program, which complicates the operation.
Innovation Solution
A control method that records operation target points, acquires the current position of the end effector, detects the closest return target point, and determines a return path by sequentially detecting subsequent target points to simplify the return process, allowing the end effector to move directly to the origin without passing through all recorded points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot returns to origin by sequentially and reversely executing an already executed control program, then the robot can return to the work origin, but the operation becomes complicated when the path includes reciprocating paths
Solution Approach 1:
The patent segments the return path into multiple intermediate target points based on the recorded operation history. Instead of executing the entire control program in reverse, the robot identifies and moves to a series of intermediate points (first intermediate target point, second intermediate target point, etc.) that lead to the work origin. This segmentation simplifies the return operation by breaking down the complex reverse execution into manageable sequential steps, directly reducing operation complexity while maintaining reliable origin return capability
2Reliability
If the robot passes through all recorded operation target points to return to origin, then the return path is well-defined, but the operation time increases and interference with objects may occur
Solution Approach 1:
The patent extracts only the necessary intermediate target points from the complete recorded operation history to form the return path. By selecting specific intermediate points (rather than all recorded operation target points) that are sufficient to guide the robot back to the origin, the method defines a reliable return path while eliminating unnecessary path segments. This extraction process reduces the number of way points the robot must visit, thereby decreasing operation time and minimizing the risk of interference with objects in the workspace
Data Source
AI summary
A control method includes: recording information of an operation target point that is a destination, each time an end effector of a robot moves to the operation target point on an operation path; acquiring a present position of the end effector upon receiving an origin return command; detecting information of a return target point on a return path for returning the end effector to an origin; detecting information of the operation target point already reached immediately before a kth return target point or having a distance closest to the kth return target point, as a (k+1)th return target point; repeating detection of the information of the return target point to detect information of second to (n+1)th return target points; and moving the end effector along the return path passing through the first to (n+1)th return target points and returning to the origin.