System and method for determining dynamic motion data in robot trajectory

Patent metadata

Field	Value
Publication number	US-2017193137-A1
Application number	US-201514983645-A
Country	US
Kind code	A1
Filing date	Dec 30, 2015
Priority date	Dec 30, 2015
Publication date	Jul 6, 2017
Grant date	—

Abstract

A simulation system to determine an optimal trajectory path for a robot with an attached implement includes a trajectory simulator which provides a simulated trajectory path for an implement, an implement model database which comprises motion data of the implement, and a logger that associates a time stamp of the implement's motion during the simulated trajectory path to generate logger data. A profile is determined by the logger data received from the logger which identifies implement motion that exceeds predetermined thresholds, and a tuner adjusts the simulated trajectory path so as to reduce the number of times predetermined thresholds are exceeded.

First claim

What is claimed is:

1 . A simulation system to determine an optimal trajectory path for a robot with an attached implement, comprising:
a trajectory simulator providing a simulated trajectory path for an implement; an implement model database comprising motion data of said implement; a logger that associates a time stamp of said implement's motion during said simulated trajectory path to generate logger data; a profile determined by said logger data received from said logger which identifies implement motion that exceeds predetermined thresholds; and a tuner to adjust said simulated trajectory path so as to reduce the number of times predetermined thresholds are exceeded.

2 . The system according to claim 1 , further comprising:
a robot model database comprising motion data of said robot, wherein said logger associates said time stamp of said robot's motion during said simulated trajectory path to generate said logger data.

3 . The system according to claim 2 , wherein said tuner is adapted to receive user input to set said predetermined thresholds.

4 . The system according to claim 3 , wherein said implement model database includes data selected from the group consisting of linear velocities, angular velocities, angular accelerations, and moment values.

5 . The system according to claim 3 , further comprising:
a calculator to receive said logger data and calculate selected forces at each said time stamp for comparison to said predetermined thresholds.

6 . The system according to claim 1 , wherein said implement model database includes data selected from the group consisting of linear velocities, angular velocities, angular accelerations, and moment values.

7 . The system according to claim 1 , wherein said implement model database represents a paint dispenser.

8 . The system according to claim 7 , wherein said paint dispenser comprises:
a dispensing head; a stator carried by said dispensing head; a rotor rotatably received within said stator, wherein an air cushion is maintained between said stator and said rotor.

9 . The system according to claim 8 , wherein said implement model database includes data values of said stator, said rotor and said dispensing head based on center of gravity values for said dispensing head, said stator and said rotor.

10 . A simulation system to determine an optimal trajectory path for a robot with an attached implement, comprising:
a trajectory module that defines simulated motion of a simulated robot and a simulated implement; a data module that generates motion data of said simulated robot and said simulated implement module; and a tuning module that adjusts said simulated motion based on said motion data that exceeds predetermined thresholds.

11 . The simulation system according to claim 10 , wherein said trajectory module receives user or automated input to define a step-by-step motion for said simulated robot and said simulated implement.

12 . The simulation system according to claim 11 , wherein said data module associates each time-stamp in the step-by-step motion with corresponding data values.

13 . The simulation system according to claim 12 , wherein said tuning module requires a pre-determined combination of thresholds within a predetermined rnge of time stamps to adjust said simulated motion.

14 . A method for optimizing robot implement performance comprising:
generating a model of implement motion for an implement; plotting a trajectory for said implement; running a simulation of said trajectory to determine implement motion that exceeds predetermined thresholds; and tuning said trajectory to reduce the number of times implement motion exceeds predetermined thresholds.

15 . The method according to claim 14 , further comprising:
validating said model of implement motion.

16 . The method according to claim 15 , further comprising:
displaying results of said simulation to visualize when said implement motion exceeds predetermined thresholds.

17 . The method according to claim 16 , further comprising:
running said simulation of said trajectory after tuning to determine effectiveness of tuning said trajectory.

18 . The method according to claim 14 , further comprising:
selecting a characteristic of implement motion to monitor during said simulation.

19 . The method according to claim 18 , wherein said characteristic is linear or rotational.

20 . The method according to claim 19 , wherein said linear characteristic is selected from the group consisting of position, linear velocity, linear acceleration and force.

21 . The method according to claim 19 , wherein said rotational characteristic is selected from the group consisting of angles, angular velocity, angular acceleration and torque.

22 . The method according to claim 18 , wherein said characteristic is associated with said implement's center of gravity.

Assignees

• Abb Technology Ltd

Inventors

• Li Xiongzi
• Riveland Steinar
• Landsnes Oyvind A
• Apneseth Christoffer
• Hara Masao

Classifications

• G06F30/20 Primary

  Design optimisation, verification or simulation (optimisation, verification or simulation of circuit designs G06F30/30) · CPC title

• G05B2219/40459

  Minimum torque change model · CPC title

• G05B2219/36071

  Simulate on screen, if operation value out of limits, edit program · CPC title

• G05B2219/40515

  Integration of simulation and planning · CPC title

• G05B2219/40519

  Motion, trajectory planning · CPC title