Robot Trajectory Recording for Smoothed Welding Path Programming
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Solution Overview
Problem
Programming motion trajectories for robots in welding or cutting operations is complex, especially in avoiding collisions and recording precise paths, which existing methods struggle to address efficiently.
Innovation Solution
A system that automatically records the motion of a robot's tool center point as an operator moves the arm, allowing for the creation of motion programs by identifying and smoothing spatial points, eliminating extraneous movements, and generating a smoothed trajectory for the robot to follow.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional manual programming methods are used to record robot trajectories, then precise motion paths can be achieved, but the programming process becomes extremely complex and time-consuming
Solution Approach 1:
The system automatically records the robot arm's motion trajectory through sensors and processors without requiring manual intervention at each position point. The robot itself generates the trajectory data during normal operation, eliminating the need for complex manual programming while maintaining precise motion paths
Solution Approach 2:
The patent replaces manual mechanical programming operations with an automated electronic recording system that uses sensors, processors, and memory to capture and store trajectory data, significantly reducing programming complexity while maintaining precision
2Manufacturing precision
If multiple position points are manually recorded along the trajectory, then accurate motion paths can be programmed, but the time required for programming increases significantly
Solution Approach 1:
The system continuously records the robot arm's position and orientation throughout the entire motion process in real-time, capturing all trajectory points in a single continuous operation rather than requiring discrete manual recording at multiple stops, thereby maintaining accuracy while dramatically reducing programming time
Solution Approach 2:
The trajectory is recorded during the actual motion execution itself, preparing the motion program data in advance for future automated operations without requiring separate programming sessions, thus eliminating time loss between motion testing and program creation
3Ease of operation
If the robot arm is moved manually through the workspace, then the trajectory can be demonstrated, but extraneous movements and collisions may occur
Solution Approach 1:
The system uses sensors to continuously monitor the robot arm's position and compares it against the recorded trajectory, providing feedback that enables automatic correction of extraneous movements and detection of potential collisions, maintaining ease of manual demonstration while ensuring reliability in automated execution
Solution Approach 2:
The system creates a digital copy of the desired trajectory through automated sensing and recording, separating the demonstration phase from the execution phase. The copied trajectory data can then be executed automatically without requiring repeated manual movements, eliminating collisions while preserving the ease of initial programming
Data Source
AI summary
An embodiment includes a robotic welding system for generating a motion program, having a programmable robot controller of a robot having a computer processor and a computer memory. The programmable robot controller is configured to digitally record, in the computer memory, a plurality of spatial points along an operator path in a 3D space taken by a calibrated tool center point (TCP) of the robot as an operator manually moves a robot arm of the robot along the operator path from a start point to a destination point within the 3D space. The programmable robot controller is also configured to identify and eliminate extraneous spatial points from the plurality of spatial points as digitally recorded, leaving a subset of the plurality of spatial points as digitally recorded, where the extraneous spatial points are a result of extraneous movements of the robot arm by the operator.