Weaving Signal Control With Filter-Aware Parameter Adjustment
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Solution Overview
Problem
Existing control devices for robots executing weaving operations require complex teaching processes and lack the ability to automatically adjust parameters to meet operator-defined conditions, making it difficult to simplify the teaching of desired weaving operations.
Innovation Solution
A control device that includes an input reception section, a signal generation section, a parameter acquisition section, a condition determination section, and a parameter adjustment section to generate and adjust weaving signals, ensuring the robot moves along a predetermined path while swinging the tool, allowing for automatic adjustment of parameters to satisfy predetermined conditions set by the operator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robot executes a weaving operation with manually configured parameters, then the operation can be performed, but the teaching process becomes complex and time-consuming
Solution Approach 1:
The control device automatically adjusts weaving signal parameters by simulating filter effects and iteratively optimizing parameters without requiring manual teaching intervention. The system serves itself by autonomously configuring the optimal weaving parameters based on the target path and operation conditions.
Solution Approach 2:
The control device performs preliminary parameter adjustment by simulating the filter's effect on weaving signals before actual execution. This preliminary simulation allows the system to pre-calculate optimal parameters, avoiding the need for complex manual teaching during actual operation.
2Reliability
If filtering is applied to remove high-frequency components from the weaving signal, then the signal quality improves, but the parameters change and may no longer satisfy the original conditions
Solution Approach 1:
The control device simulates the filter's effect on the weaving signal in advance and adjusts parameters beforehand to compensate for the filtering effect. This preliminary adjustment ensures that after filtering, the parameters still satisfy the original conditions and the signal maintains both quality and precision.
Solution Approach 2:
The control device iteratively adjusts parameters by comparing the filtered signal parameters with target parameters, and repeatedly fine-tunes the weaving signal parameters until they satisfy the conditions. This feedback loop ensures both signal quality and parameter accuracy are maintained.
3Adaptability or versatility
If the robot moves along a predetermined path with tool swinging, then the weaving operation is performed, but parameter adjustments are needed to meet operator-defined conditions
Solution Approach 1:
The control device automatically adjusts weaving signal parameters by simulating filter effects and iteratively optimizing parameters without requiring manual teaching intervention. The system serves itself by autonomously configuring the optimal weaving parameters based on the target path and operation conditions.
Solution Approach 2:
The control device changes parameters of the weaving signal through automatic adjustment mechanisms, modifying frequency, amplitude, and other parameters to satisfy operator-defined conditions while maintaining the robot's ability to move along the predetermined path with tool swinging.
Data Source
AI summary
A device includes an input reception unit that receives input of a parameter of a weaving signal, a signal generation unit that generates a weaving signal having the received parameter, a parameter acquisition unit that acquires, as a filtered parameter, the parameter of the weaving signal in a case where the weaving signal is subjected to filtering processing, a condition determination unit that determines whether or not the filtered parameter satisfies a predetermined condition, and a parameter adjustment unit that adjusts the received parameter if the filtered parameter is determined not to satisfy the predetermined condition. The signal generation unit generates a weaving signal having the parameter adjusted by the parameter adjustment unit.