Robot Motion Trajectory Prioritization for Faster Teaching Data
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Solution Overview
Problem
Existing methods for generating teaching data for robot motion trajectories are labor-intensive and time-consuming due to the need to consider various parameters and search through numerous options.
Innovation Solution
A method and apparatus that determine motion trajectories for robots with multiple axes by obtaining motion conditions, setting priority levels based on work directions, and searching for trajectories efficiently using a database of priority levels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual generation of teaching data is performed, then the robot can be controlled with customized motion trajectories, but the workload becomes very high due to the need to consider various parameters
Solution Approach 1:
The motion trajectory generation apparatus automatically generates teaching data by itself without requiring manual input from the user. The system obtains motion conditions, determines priority levels, and performs search processing autonomously to create motion trajectories, eliminating the need for users to manually configure multiple parameters.
Solution Approach 2:
The system changes the approach by introducing priority levels as a new parameter to organize the search process. Instead of manually adjusting multiple motion parameters, the system uses priority levels to systematically evaluate and select the best motion trajectory from multiple candidates, reducing the complexity of parameter management.
2Ease of operation
If a motion trajectory generation apparatus is used to automatically generate teaching data, then the workload is reduced, but the processing time becomes long due to the need to search through a large number of options
Solution Approach 1:
The search process is segmented into multiple stages based on priority levels. The system divides the evaluation of motion trajectories into hierarchical levels, where higher priority levels are evaluated first. This segmentation allows the system to quickly eliminate inferior options and focus computational resources on the most promising trajectories, significantly reducing overall search time.
Solution Approach 2:
The system performs preliminary evaluation of motion trajectories by assigning priority levels before conducting detailed search processing. By pre-categorizing and ranking potential trajectories based on motion conditions and work directions, the system prepares the search space in advance, enabling faster convergence to the optimal trajectory without exhaustively evaluating all possibilities.
3Adaptability or versatility
If the robot arm is designed to reach a wide range of work positions, then the versatility is improved, but the complexity of determining appropriate poses increases
Solution Approach 1:
The system dynamically adjusts the pose determination process based on the specific work position and motion conditions. Rather than using a fixed complex algorithm for all positions, the system adapts its search strategy by determining priority levels specific to each work position and motion condition, simplifying the determination process for each individual case while maintaining versatility across multiple positions.
Data Source
AI summary
A motion trajectory generation method for generating a motion trajectory of a robot having a plurality of drive axes upon carrying out work at a work position includes: an obtaining step of obtaining a motion condition identified and corresponding to the work position; and a generation step of generating a motion trajectory of the robot by carrying out a search for a plurality of motion trajectories that the robot is able to implement, on the basis of the motion condition, in which in the generation step, priority levels in the search are determined on the basis of the motion condition and work directions for a plurality of work positions, and the search for the plurality of motion trajectories is carried out on the basis of the priority levels.