Robot Speed Control via Teaching Point Dynamics
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for creating operation programs for robots struggle with maintaining high position accuracy, especially when there are significant position or posture changes between teaching points, leading to degraded control and processing accuracy.
Innovation Solution
An operation program creating method that sets speeds at teaching points based on position and posture changes relative to upstream and downstream points, reducing speed when large angles or significant posture changes occur, allowing for more accurate positioning and smoother movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot moves quickly between teaching points to improve productivity, then the operation time is reduced, but the position accuracy at teaching points deteriorates when there are large position or posture changes
Solution Approach 1:
The patent applies dynamics by making the robot's speed variable rather than constant. The control device dynamically adjusts the speed at each teaching point based on the magnitude of position and posture changes. When large changes are detected between adjacent teaching points, the speed is automatically reduced to ensure accurate positioning. This dynamic speed adjustment allows the robot to maintain high productivity during normal operation while ensuring high precision when needed, resolving the contradiction between speed and accuracy.
2Manufacturing precision
If the speed is uniformly reduced at all teaching points to improve position accuracy, then the positioning accuracy improves, but the overall operation time increases
Solution Approach 1:
The patent applies local quality by making the speed adjustment localized rather than global. Instead of uniformly reducing speed at all teaching points, the control device selectively reduces speed only at specific teaching points where large position or posture changes occur. The speed at other teaching points with small changes remains high. This localized approach ensures high positioning accuracy is maintained only where necessary, while preserving high operation speed elsewhere, thus resolving the contradiction between accuracy and time loss.
3Productivity
If the robot maintains high speed through large position changes, then productivity is maintained, but the control performance deteriorates and the robot fails to reach teaching points accurately
Solution Approach 1:
The patent applies feedback by using information about the magnitude of position and posture changes between adjacent teaching points to control the robot's speed. The control device calculates the change magnitude and uses this feedback to automatically adjust the speed at each teaching point. This feedback mechanism ensures that when large changes are detected, the speed is reduced to maintain reliable control and accurate positioning, while allowing high speed when changes are small, thus resolving the contradiction between productivity and control reliability.
Data Source
Figure 1
Figure 2~3
Figure 4
AI summary
An operation program creating method comprises performing, with a computer, a speed setting step that creates an operation program of a robot in such a manner that speeds at a plurality of teaching points are set, and in the speed setting step, the speed at a specified teaching point on the designed movement path is set based on a position change or a posture change in a plurality of teaching points including the specified teaching point, a teaching point which is upstream of the specified teaching point on the designed movement path, and/or a teaching point which is downstream of the specified teaching point on the designed movement path.