Robot Tool Posture Control with Pre-Inclination Along Processing Paths
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Solution Overview
Problem
Existing robot operation programs lack efficient mechanisms to manage tool posture changes during processing, leading to potential processing defects and reduced operation speed due to inadequate inclination control, especially when dealing with complex work object shapes.
Innovation Solution
An operation program setting apparatus for robots that includes a controller capable of adding a command to incline the tool within a predetermined acceptable angle range when approaching posture changing positions, based on stored data or formulas considering the work object's material and thickness, to reduce posture changes and ensure quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the tool posture is changed abruptly at posture changing positions, then the processing trajectory can follow complex work object shapes, but processing defects occur and operation speed decreases
Solution Approach 1:
The system performs preliminary inclination by making the tool start to incline before reaching the posture changing position, within a range of acceptable inclination angles. This gradual posture adjustment prevents abrupt changes that cause processing defects, while still achieving the required posture changes for complex work object shapes.
2Adaptability or versatility
If the tool posture is changed abruptly at posture changing positions, then the processing trajectory can follow complex work object shapes, but operation speed decreases
Solution Approach 1:
The system performs preliminary inclination by making the tool start to incline before reaching the posture changing position, within a range of acceptable inclination angles. This gradual posture adjustment prevents abrupt changes that cause processing defects, while still achieving the required posture changes for complex work object shapes.
3Manufacturing precision
If the tool inclination is strictly controlled at zero at all positions, then processing quality is maintained, but the robot cannot adapt to complex work object shapes requiring posture changes
Solution Approach 1:
The system applies different inclination control strategies at different positions along the processing trajectory. At most positions, the tool maintains zero inclination for quality processing. At posture changing positions, the tool allows inclination within an acceptable angle range to adapt to complex work object shapes, while maintaining quality at other positions.
4Adaptability or versatility
If the tool inclination angle range is expanded, then adaptability to complex shapes improves, but processing quality may deteriorate
Solution Approach 1:
The system applies different inclination control strategies at different positions along the processing trajectory. At most positions, the tool maintains zero inclination for quality processing. At posture changing positions, the tool allows inclination within an acceptable angle range to adapt to complex work object shapes, while maintaining quality at other positions.
Data Source
AI summary
A robot employing an operation program setting apparatus is configured to move, based on an operation program, a tool attached to a distal end portion of an arm of the robot along a predetermined processing trajectory along a work object, the operation program makes posture of the tool change at at least a position along the predetermined processing trajectory, the position is a posture changing position. The setting apparatus includes a controller configured to add a command to the operation program, the command is for making the tool start to be inclined when the tool approaches the posture changing position within a range of an acceptable inclination angle, the range is an angle range within which the tool is allowed to be inclined with respect to a surface of the work object.