Robot Simulation Device for Automatic Interference Avoidance
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Solution Overview
Problem
Existing robot simulation methods often get trapped in endless loops or local solutions when calculating complex motion paths to avoid interference, requiring skilled operator intervention and cumbersome adjustments.
Innovation Solution
A robot simulation device that positions three-dimensional models of robots and peripheral objects in a virtual space, using a motion path generating part to automatically insert teaching points determined by random search directions and distances, evaluating these paths based on predefined parameters, and selecting an optimal path to avoid interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the potential method is used to generate a complicated motion path for avoiding interference, then the robot can avoid obstacles, but the calculation may be trapped in endless loops or local solutions requiring operator intervention
Solution Approach 1:
The system performs self-adjustment by automatically detecting when calculation is trapped in endless loops or local solutions, and autonomously changes calculation conditions or adjusts motion paths without requiring operator intervention. The control unit monitors calculation progress and implements corrective actions independently.
Solution Approach 2:
The system incorporates feedback mechanisms where the control unit continuously monitors the calculation process, detects when the robot is trapped in endless loops or local solutions, and uses this information to adjust calculation conditions or modify the motion path accordingly.
2Reliability
If the potential method is used to calculate complex motion paths, then obstacle avoidance is achieved, but calculation efficiency deteriorates due to endless loops and local solutions
Solution Approach 1:
The control unit monitors the calculation process in real-time and detects when the system is trapped in endless loops or local solutions. Based on this feedback, it automatically changes calculation conditions or adjusts the motion path, thereby improving calculation efficiency while maintaining obstacle avoidance capability.
Solution Approach 2:
The system dynamically adjusts calculation conditions during the motion path generation process. When trapped in local solutions or endless loops, the control unit modifies calculation parameters or repositions the robot virtually to escape from problematic areas, enabling the system to adapt its calculation strategy in real-time.
Data Source
AI summary
A robot simulation device for automatically generating a practical interference avoiding motion path, regardless of the level of skill of an operator. The device includes: a motion path obtaining part which obtains a first motion path by simulating a robot motion program; a teaching point specifying part which detects whether a robot interferes with a peripheral object on the first path, and specifies first and second teaching points immediately before and after the interference occurs, respectively; a motion path generating part which automatically inserts a third teaching point between the first and second points and generates second motion paths for avoiding the interference, based on a search direction and distance determined by a random number; an evaluating part which evaluates each second path based on a predetermined parameter; and a motion path selecting part which selects an optimum motion path from the second paths based on an evaluation result.