Robot Toolpath Simulation With Automatic Singularity Correction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional robotic simulation software requires manual parameter selection and lacks automated analysis of simulation results, leading to inefficient and time-consuming processes, as well as failure to account for physical robot capabilities, resulting in unrealistic simulations and unresolved issues like axis limit exceedance and singularity creation.
Innovation Solution
A computer-implemented method that performs multiple simulations with varying parameter values, automatically resolves issues like axis limit exceedance and singularity, and generates code for controlling robots based on user-selected simulations, incorporating inverse kinematics and accounting for robot capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If conventional simulation software is used with manual parameter selection, then the simulation can be performed, but the process becomes tedious and time-consuming
Solution Approach 1:
The system performs self-service by automatically generating multiple simulations with varying parameter values without requiring manual user input for each simulation. The computer automatically selects parameter values, executes simulations, and analyzes results, eliminating the tedious manual trial-and-error process while reducing overall simulation time.
Solution Approach 2:
The system automatically changes parameter values across multiple simulations according to predefined patterns or optimization algorithms. Instead of manual parameter selection, the computer systematically varies parameters such as robot speed, acceleration, and positioning values to generate comprehensive simulation results efficiently.
2Ease of operation
If conventional simulation software is used without automated analysis, then simulations can be run, but extensive knowledge of robotics and software is required
Solution Approach 1:
The system implements automated feedback by analyzing simulation results and automatically adjusting parameter values for subsequent simulations. The computer evaluates simulation outcomes, identifies issues such as axis limit exceedance or singularity creation, and uses this feedback to refine parameter selections, eliminating the need for users to have extensive analytical knowledge.
Solution Approach 2:
The system introduces an intermediary automated analysis layer between the simulation execution and user interpretation. This intermediary automatically processes simulation data, detects problems, and generates recommendations, shielding users from complex analytical requirements while maintaining simulation accuracy.
3Reliability
If simulations do not account for robot capabilities, then simulations can be generated quickly, but the simulations become unrealistic
Solution Approach 1:
The system performs preliminary action by pre-defining robot capability constraints such as maximum speeds, accelerations, and positioning accuracy limits before running simulations. These constraints are automatically applied to all simulated operations, ensuring realism without requiring manual adjustment during each simulation. The computer generates simulations that inherently respect these pre-established physical limitations.
Data Source
AI summary
Techniques are disclosed for controlling robots based on generated robot simulations. A robot simulation application is configured to receive a robot definition specifying the geometry of a robot, a list of points defining a toolpath that a head of the robot follows during an operation, and a number of simulations of the robot performing the operation. The simulation application then performs the number of simulations, displays results of those simulations, and generates code for controlling a physical robot based on a user selection of one of those simulations. During each simulation, if a robotic problem, such as an axis limit or a singularity problem, is encountered, then the simulation application attempts to resolve the problem by rotating the robot head in both directions about a tool axis and determining a smallest angle of rotation in either direction that resolves the robotic problem, if any.