公开(公告)号：US08577499B2

公开(公告)日：2013-11-05

申请号：US12532924

申请日：2008-11-19

Applicant: Per Emil Eliasson

Inventor： Per Emil Eliasson

IPC: G05B19/18

CPC classification number: B25J9/1664 ,  G05B2219/36252 ,  G05B2219/40463 ,  G05B2219/40511

Abstract: A device and method for optimizing a programmed movement path for an industrial robot holding a tool to carry out work along the path during a work cycle. The movement path includes information on positions and orientations for the tool at a plurality of target points on the movement path. The method includes for at least one of the target points: receiving a tolerance interval for the orientation of the tool in the target point, determining movements of the robot between the target point and one or more of the other target points on the path for a plurality of different tool orientations within the tolerance interval, selecting one of the different tool orientations as the tool orientation for the target point based on the determined movements of the robot and with regard to minimizing cycle time, and generating a robot program based on the selected orientation of the tool at the target point.

Abstract translation: 一种用于优化用于工作机器人的编程移动路径的装置和方法，所述工业机器人保持工具在工作循环期间沿着路径执行工作。 移动路径包括关于移动路径上的多个目标点上的工具的位置和取向的信息。 该方法包括用于至少一个目标点：接收目标点中的工具的方位的公差间隔，确定机器人在目标点与路径上的一个或多个其他目标点之间的运动，用于 基于所确定的机器人的移动并且关于最小化周期时间，并且基于所选择的机器人程序来生成机器人程序，在所述公差间隔内的多个不同的刀具方向，选择所述不同刀具取向中的一个作为所述目标点的刀具方位 目标点上工具的方位。

公开(公告)号：US20110106308A1

公开(公告)日：2011-05-05

申请号：US12532924

申请日：2008-11-19

Applicant: Per Emil Eliasson

Inventor： Per Emil Eliasson

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/36252 ,  G05B2219/40463 ,  G05B2219/40511

Abstract: A device and method for optimizing a programmed movement path for an industrial robot holding a tool to carry out work along the path during a work cycle. The movement path includes information on positions and orientations for the tool at a plurality of target points on the movement path. The method includes for at least one of the target points: receiving a tolerance interval for the orientation of the tool in the target point, determining movements of the robot between the target point and one or more of the other target points on the path for a plurality of different tool orientations within the tolerance interval, selecting one of the different tool orientations as the tool orientation for the target point based on the determined movements of the robot and with regard to minimizing cycle time, and generating a robot program based on the selected orientation of the tool at the target point.

Abstract translation: 一种用于优化用于工作机器人的编程移动路径的装置和方法，所述工业机器人保持工具在工作循环期间沿着路径执行工作。 移动路径包括关于移动路径上的多个目标点上的工具的位置和取向的信息。 该方法包括用于至少一个目标点：接收目标点中的工具的方位的公差间隔，确定机器人在目标点与路径上的一个或多个其他目标点之间的运动，用于 基于所确定的机器人的移动并且关于最小化周期时间，并且基于所选择的机器人程序来生成机器人程序，在所述公差间隔内的多个不同的刀具方向，选择所述不同刀具取向中的一个作为所述目标点的刀具方位 目标点上工具的方位。