Robot TCP Path Visualization for Joint Stress Balancing
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Solution Overview
Problem
Programming robots with multiple joints and a Tool Centre Point (TCP) is challenging due to difficulties in assessing joint stress levels, which can lead to reduced robot lifetime if heavy loads are not evenly distributed.
Innovation Solution
A system comprising processing circuitry and storage circuitry that generates additional parallel paths for the TCP, each associated with specific joints, illustrating physical condition ranges using colors to indicate normal, warning, or critical conditions, allowing programmers to identify and adjust joints accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If traditional programming methods are used without visual aids, then the programming process is simpler, but the programmer cannot easily assess joint stress levels and physical conditions
Solution Approach 1:
The patent uses color-coded visual indicators to represent different ranges of joint physical conditions. Each joint's parallel path is displayed in a color corresponding to its current physical condition range (e.g., green for normal, yellow for warning, red for critical), enabling programmers to quickly assess joint stress levels without complex data interpretation.
Solution Approach 2:
The patent transforms joint physical condition data into a spatial visualization by creating parallel paths offset from the main TCP path in the graphical interface. Each joint has its own parallel path at a different offset distance, adding a spatial dimension that allows simultaneous visualization of multiple joints' conditions along the trajectory.
2Reliability
If visual aids are added to assist programming, then joint stress assessment improves, but the system complexity increases
Solution Approach 1:
The patent performs preliminary analysis of joint physical conditions during the programming phase by calculating and visualizing parallel paths for each joint. This allows programmers to identify potential stress issues before actual robot operation, enabling preventive adjustments to the trajectory to ensure even load distribution and extend robot lifetime.
Solution Approach 2:
The patent introduces parallel paths as an intermediary visualization element between the main TCP trajectory and the joint condition data. These parallel paths serve as a mediator that translates complex joint physical condition data into an intuitive visual format that programmers can easily interpret and use for optimization.
3Ease of operation
If multiple visual indicators are provided for each joint, then joint condition assessment improves, but the information processing complexity increases
Solution Approach 1:
The patent uses color-coding to simplify the representation of joint physical conditions. Instead of displaying multiple numerical indicators or complex graphs for each joint, the system maps joint conditions to color ranges, making it easy for programmers to assess joint status at a glance without processing complex data.
Solution Approach 2:
The patent applies different visual properties (colors, offsets) to different joints based on their specific conditions and positions. Each joint's parallel path has a unique offset distance from the main TCP path and is colored according to its current physical condition range, allowing localized assessment of each joint's status within the overall trajectory context.
Data Source
AI summary
A system and a method, for assisting a user in programming a robot. Storage circuitry includes predefined possible values for a physical condition of at least two joints, the values being subdivided into two or more ranges. Processing circuitry is arranged to acquire a first path of the Tool Centre Point (TCP), receive, for each of a plurality of points of the first path and for the joints, a value associated with the physical condition at the respective points, determine which of the ranges the value is associated with, generate at least one additional path, associate each of the at least two joints to a respective path, and send instructions to a display, to illustrate the first path and the additional path, together with the information of which range the values are associated with at the plurality of points of the paths.