Robot Control Program Generation for Low-Power Trajectory Planning
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Solution Overview
Problem
Existing power consumption monitoring apparatuses for industrial robots face challenges in optimizing the trajectory of manipulators to reduce power consumption due to unknown accumulated power consumption, making it difficult to balance takt time and power usage effectively.
Innovation Solution
A method for generating a control program for a robot that involves receiving teaching points, generating a trajectory based on movement time and drive conditions, displaying the trajectory and accumulated power consumption, and creating a control program optimized for power-saving modes by reducing accelerations and decelerations or adjusting velocities to minimize energy use.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot arm moves quickly between teaching points to improve productivity, then the movement time decreases and productivity increases, but the power consumption increases due to higher accelerations and velocities
Solution Approach 1:
The system changes the motion parameters (acceleration, velocity, jerk) of the robot arm to optimize the trajectory. By adjusting these parameters within constraint conditions, the system generates trajectories that balance movement time and power consumption, allowing the robot to move efficiently between teaching points while minimizing energy use.
2Adaptability or versatility
If the accumulated power consumption is unknown in advance, then the robot can operate flexibly, but trajectory optimization to reduce power consumption becomes difficult
Solution Approach 1:
The system performs preliminary calculation of the accumulated power consumption for the entire trajectory before the robot actually executes the movement. This allows the trajectory to be optimized for power efficiency in advance, while still maintaining operational flexibility during actual execution. The power consumption is calculated based on the robot's configuration, inertia, and gravity effects along the planned path.
Data Source
AI summary
A method of generating a control program for a robot includes generating a trajectory in which a robot arm moves between a plurality of teaching points based on a first constraint condition with respect to a movement time of the robot arm and a second constraint condition with respect to a drive condition for driving the robot arm by a processor, displaying the trajectory generated by the processor and accumulated power consumption when the robot arm moves along the trajectory by a display unit, and, when receiving an instruction to employ the trajectory, generating a control program for the robot based on the trajectory by the processor.