Robot Trajectory Generation Reducing Torque at Curved Portions
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Solution Overview
Problem
Conventional trajectory generation methods for robots result in increased load and prolonged operation times, especially at curved portions of the trajectory, leading to reduced speed and extended cycle times, which can shorten the robot's lifespan and increase operation time.
Innovation Solution
A trajectory generation apparatus that includes a reference trajectory generation unit, a load judgement unit, a speed reduction unit, a comparison trajectory generation unit, and a trajectory selection unit, which adjusts the robot's speed and trajectory to maintain load within allowable limits by changing the curvature radius and position of teaching points, thereby reducing torque and transit time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the robot is decelerated at curved portions to reduce load, then the load on the robot is reduced, but the cycle time and operation time are prolonged
Solution Approach 1:
The patent changes the curvature radius parameter of the trajectory at curved portions to reduce load. By adjusting the curvature radius rather than simply decelerating, the system maintains a balance between load reduction and operation speed, preventing excessive prolongation of cycle time while keeping load within acceptable limits
Solution Approach 2:
The patent dynamically adjusts the trajectory parameters based on real-time load conditions. The control apparatus continuously monitors load and modifies the curvature radius and position of teaching points dynamically, allowing the robot to operate at optimal speed while maintaining load within safe boundaries
2Loss of time
If the robot speed is increased at curved portions to reduce operation time, then the operation time is reduced, but the load on the robot becomes excessive
Solution Approach 1:
The patent modifies the curvature radius parameter of the trajectory to enable faster robot operation. By optimizing the curvature radius at curved portions, the system allows increased speed without generating excessive load, thus reducing operation time while maintaining load within acceptable limits
3Manufacturing precision
If the robot follows the reference trajectory precisely, then the trajectory accuracy is maintained, but the transit time is prolonged due to speed reduction
Solution Approach 1:
The patent performs preliminary adjustments to the trajectory parameters before robot execution. By pre-calculating optimized curvature radii and teaching point positions that balance accuracy and speed, the system achieves both trajectory precision and reduced transit time without requiring real-time corrections that would prolong operation
Data Source
AI summary
A trajectory generation apparatus for robot includes a load judgement unit which compares a load applied to a component of a robot when the robot is operated on a reference trajectory with a load judgement value and a speed reduction unit which reduces a speed of the robot when the load is greater than the load judgement value. The trajectory generation apparatus includes a comparison trajectory generation unit which sets a comparison teaching point obtained by changing a position of a reference teaching point when the speed is reduced and generates a comparison trajectory based on the comparison teaching point and a trajectory selection unit which compares a transit time of the comparison trajectory with a transit time of the reference trajectory and selects a trajectory of which a transit time is shorter.