Robot Trajectory Simulation for Interference-Free Teaching Points
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Solution Overview
Problem
Current robot control planning lacks automation in avoiding interference between robots and peripheral equipment, relying on manual trial and error for adjusting teaching points, which is time-consuming and inefficient.
Innovation Solution
A simulation system and method that virtually executes robot operation programs, checks for interference, and adjusts teaching point parameters to prevent collisions, including shifting positions and modifying inward spiral amounts, to automatically generate interference-free paths without altering user-defined work paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual trial and error is used to adjust teaching points to avoid interference, then interference-free paths can be generated, but the process becomes time-consuming and inefficient
Solution Approach 1:
The system performs preliminary simulation of robot trajectories before actual execution to detect potential interferences. By checking for collisions in advance and adjusting teaching points proactively, the system avoids time-consuming manual trial and error during actual robot operation, thus resolving the contradiction between ensuring interference-free paths and reducing programming time.
2Productivity
If automation is increased in robot control planning, then efficiency improves, but complexity of the system increases
Solution Approach 1:
The system creates a virtual copy of the robot and its environment in simulation space. This digital twin allows automated trajectory verification and teaching point adjustment without affecting the physical robot. By performing all complex automated planning and simulation in the virtual copy, the system achieves high productivity while containing complexity in the simulation environment rather than the physical control system.
3Reliability
If teaching point parameters are adjusted to avoid interference, then collision prevention improves, but the number of adjustments and system complexity increases
Solution Approach 1:
The system implements a feedback loop where simulation results automatically feed back to adjust teaching point parameters. When potential interferences are detected in the virtual simulation, the system automatically modifies teaching point positions and inward spiral amounts, then re-simulates to verify the changes. This automated feedback mechanism improves collision prevention while minimizing the complexity of manual parameter adjustments.
Data Source
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AI summary
A simulation system according to an example includes: a simulation unit configured to virtually execute an operation program including a path representing a trajectory of a robot, on a virtual space in which the robot and another object are arranged; an interference checking unit configured to check whether there is an interference between the robot and the other object based on an execution result of the operation program; and an adjustment unit configured to adjust a parameter related to at least one teaching point corresponding to the path in response to detecting the interference.