Robot Teaching Support Apparatus Joint Path Optimization
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Solution Overview
Problem
Existing teaching support apparatuses for robots do not effectively prevent unnecessary movement of robot joints during the teaching process, leading to inefficient operation.
Innovation Solution
A computer-readable recording medium and a teaching support apparatus that acquire and process nodes with position and posture information of a robot's end effector, calculate joint angle sets, combine them into posture sets, create discrete joint paths, and evaluate these paths to select an optimal set that minimizes unnecessary joint movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If existing teaching support apparatuses calculate solution candidates for each movement point separately, then calculation complexity is reduced, but robot joints perform unnecessary movements leading to reduced productivity
Solution Approach 1:
The patent applies preliminary action by evaluating all possible path combinations in advance before robot execution. The system generates multiple solution candidates for each movement point, creates complete path combinations from start to end points, evaluates them collectively considering cumulative costs, and selects the optimal path beforehand. This prevents unnecessary joint movements during actual robot operation, resolving the contradiction between simplified calculation and operational efficiency.
2Power
If the system evaluates only local solution candidates without considering complete paths, then computational load is decreased, but unnecessary joint movements occur reducing time efficiency
Solution Approach 1:
The system performs preliminary evaluation of complete paths from start to end points before robot execution. It generates solution candidates for all movement points, creates comprehensive path combinations, evaluates cumulative costs including operation time and joint movement, and determines the optimal path in advance. This eliminates unnecessary joint movements during actual operation, converting computational effort performed beforehand into time savings during execution.
Solution Approach 2:
The patent ensures continuity of useful action by evaluating the entire path from start to end points as a unified sequence rather than isolated segments. The cumulative evaluation function considers the continuous transition of joint angles across all movement points, ensuring that each segment contributes to the overall optimal path. This continuous evaluation approach prevents discontinuous or redundant joint movements that would occur with isolated local optimizations.
Data Source
AI summary
Disclosed is a recording medium storing a program causing a computer to perform: sequentially acquiring nodes of an end effector of an articulated robot having joints and the end effector; and calculating, for each node, joint angle sets representing angles of the joints from the position information and the posture information in each node; creating posture sets in which a joint angle set selected for each node is combined and associated in an order of nodes; creating, based on each posture set, each path set including a discrete path of each joint for each posture set by creating, for each joint, the path from an angle of each joint of a joint angle set selected for a first node to an angle of each joint of a joint angle set selected for a last node; and selecting one path set based on an evaluation of each path set.