Reducing energy consumption of industrial robots by using new methods for motion path programming

Patent metadata

Field	Value
Publication number	US-9649765-B2
Application number	US-201414197620-A
Country	US
Kind code	B2
Filing date	Mar 5, 2014
Priority date	Mar 11, 2013
Publication date	May 16, 2017
Grant date	May 16, 2017

Abstract

Various disclosed embodiments include methods, systems, and computer-readable media for identifying a motion path for an industrial robot. According to one embodiment, a method includes identifying a plurality of points at which at least one component of the industrial robot is positioned during performance of a task. The identified points include at least a starting point and an ending point of the component for performing the task. The method also includes generating one or more motion paths for the industrial robot to perform the task based on the identified points. The method further includes identifying and predicting energy consumption by the industrial robot for the one or more generated motion paths. The method also includes selecting the motion path for the industrial robot based on the identified energy consumption. Additionally, the method includes storing information about the energy consumption by the industrial robot for the selected motion path.

First claim

What is claimed is:

1. A method for identifying a motion path for an industrial robot using a data processing system, the method comprising:
identifying a plurality of points at which at least one component of the industrial robot is positioned during performance of a task, the identified points including at least a starting point and an ending point of the component for performing the task;
generating, by the data processing system, one or more motion paths for the industrial robot to perform the task based on the identified points;
identifying energy consumption by the industrial robot for the one or more generated motion paths;
selecting the motion path for the industrial robot based on the identified energy consumption;
separating the selected motion path into a plurality of segments;
analyzing each path segment for energy saving based on a movement of at least one component of the industrial robot, a position of at least one component of the industrial robot, and a size of at least one component of the industrial robot to form analysis results;
modifying one or more of the path segments based on the analysis results; and
storing information about the energy consumption and the analysis results by the industrial robot for the selected motion path.

2. The method of claim 1 further comprising:
identifying parameters of the industrial robot including an output power of at least one motor of the industrial robot, a rotation axis for at least one rotatable component of the industrial robot, a length of at least one extendable component of the industrial robot, and a coordinate acceleration of the at least one extendable component based on the output power and the rotation axis,
wherein generating the one or more motion paths comprises:
generating at least one simulation of performance of the task by the industrial robot based on the starting point, the ending point, and the parameters of the industrial robot; and
generating the one or more motion paths by changing a velocity or acceleration of a component of the industrial robot during at least one segment of one or more of the one or more motion paths.

3. The method of claim 2 further comprising:
identifying information about the task performed by the industrial robot, the information about the task including the starting point, the ending point, a tool on the industrial robot used to perform the task, a weight of an object moved by the industrial robot during performance of the task, and a position of at least one obstacle in an environment where the industrial robot is located;
wherein generating the at least one simulation of performance of the task comprises generating the at least one simulation of performance of the task based on the information about the task performed by the industrial robot.

4. The method of claim 1 further comprising:
identifying a timing requirement for performance of the task by the industrial robot,
wherein generating the one or more motion paths comprises generating the one or more motion paths to allow the industrial robot to meet the timing requirement for performance of the task.

5. The method of claim 1 further comprising:
identifying information about an environment where the industrial robot is located, the information about the environment including information about a position of at least one obstacle,
wherein generating the one or more motion paths comprises generating the one or more motion paths to that avoid collision with the at least one obstacle.

6. The method of claim 1 , wherein the motion path for the industrial robot is selected based on a reduction in energy consumption by the industrial robot during performance of the task or a reduction in an amount of time for the industrial robot to perform the task.

7. A data processing system for identifying a motion path for an industrial robot, the data processing system comprising:
at least one processor; and
a memory connected to the processor, the data processing system particularly configured to:
identify a plurality of points at which at least one component of the industrial robot is positioned during performance of a task, the identified points including at least a starting point and an ending point of the component for performing the task;
generate one or more motion paths for the industrial robot to perform the task based on the identified points;
identify energy consumption by the industrial robot for the one or more generated motion paths;
select the motion path for the industrial robot based on the identified energy consumption;
separate the selected motion path into a plurality of segments;
analyze each path segment for energy saving based on a movement of at least one component of the industrial robot, a position of at least one component of the industrial robot, and a size of at least one component of the industrial robot to form analysis results;
modify one or more of the path segments based on the analysis results; and
store information about the energy consumption and the analysis results by the industrial robot for the selected motion path.

8. The data processing system of claim 7 , wherein the data processing system is further configured to:
identify parameters of the industrial robot including an output power of at least one motor of the industrial robot, a rotation axis for at least one rotatable component of the industrial robot, a length of at least one extendable component of the industrial robot, and a coordinate acceleration of the at least one extendable component based on the output power and the rotation axis,
wherein in generating the one or more motion paths, the data processing system is configured to generate at least one simulation of performance of the task by the industrial robot based on the starting point, the ending point, and the parameters of the industrial robot; and to generate the one or more motion paths by changing a velocity or acceleration of a component of the industrial robot during at least one segment of one or more of the one or more motion paths.

9. The data processing system of claim 8 , wherein the data processing system is further configured to:
identify information about the task performed by the industrial robot, the information about the task including the starting point, the ending point, a tool on the industrial robot used to perform the task, a weight of an object moved by the industrial robot during performance of the task, and a position of at least one obstacle in an environment where the industrial robot is located;
wherein in generating the at least one simulation of performance of the task, the data processing system is configured to generate the at least one simulation of performance of the task based on the information about the task performed by the industrial robot.

10. The data processing system of claim 7 , wherein the data processing system is further configured to:
identify a timing requirement for performance of the task by the industrial robot,
wherein in generating the one or more motion paths, the data processing system is configured to generate the one or more motion paths to allow the industrial robot to meet the timing requirement for performance of the task.

11. The data processing system of claim 7 , wherein the data processing system is further configured to:
identify information about an environment where the industrial robot is located, the information about the environment including information about a position of at least one obstacle,
wherein in generating the one or more motion paths, the data processing system is configured to generate the one or more motion paths to avoid collision with the at least one obstac

Assignees

• Siemens Product Lifecycle Man Software Inc
• Siemens Ag

Inventors

• Frische Matthias
• Jungnickel Frank

Classifications

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title

• G05B2219/40515

  Integration of simulation and planning · CPC title

• G05B2219/39361

  Minimize time-energy cost · CPC title

• G05B2219/40476

  Collision, planning for collision free path · CPC title