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Method and system for programming a robot

A technology of robots and programs, applied in the field of robotics, can solve problems such as uneconomical engineering work, reprogramming of short production runs, etc., to achieve the effect of tolerance of geometric shape deviation, simple programming, and robust setting

Active Publication Date: 2017-02-22
ARTIMINDS ROBOTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] Short production runs require frequent reprogramming, making extensive engineering work uneconomical

Method used

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  • Method and system for programming a robot
  • Method and system for programming a robot
  • Method and system for programming a robot

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0188] Figure 1 to Figure 12 An example of a common application is included, namely the programming of a robot that tightens a screw into a workpiece to a specific torque.

[0189] figure 1 A schematic diagram of an exemplary robot program 1 is shown, wherein a human will manually create a robot program 1 according to the prior art to tighten a screw to a predeterminable torque with a robot. In this specific example, according to figure 1 , the robot program 1 comprises instructions or robot commands intended to perform / do said tasks (in particular, in such a way that a human would currently have to program or create them manually). These boxes are individual robot commands with parameters. P1 , P2, P3 and P4 are teach points, preferably manually integrated by the programmer into the program as parameters. SENSOR[2] reads the Z value of the force / torque sensor on the robot; SENSOR[5] reads the torque around Z. OUT[0] = 1 or 0 enables or disables the screwdriver on the ro...

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Abstract

The invention relates to a method for programming a robot, in particular a robot comprising a robotic arm, in which method a movement to be performed by the robot is set up preferably in a robot programme by means of a predefined motion template, the motion template is selected from a database comprising a plurality of motion templates, the motion template comprises one or more execution modules that can be parameterized and at least one learning module, the one or more execution modules are used for planning and / or performing the robot movement or part of the robot movement, the leaning module records one or more configurations of the robot during an initialization process, in particular in the form of a teaching process, and the learning module calculates parameters for the one or more execution modules on the basis of the recorded configurations, preferably using an automatic learning process. Also disclosed is a corresponding system for programming a robot.

Description

technical field [0001] The present invention relates to a method and a system for programming a robot, in particular a robot comprising a robotic arm. Background technique [0002] Methods and systems of the type in question have been known by the art for many years. Thus, there are various programming methods for programming industrial robots: teach-in, reproduction, sensor-based programming, CAD (Computer Aided Design) programming and dialog-based or text-based programming. [0003] In the teach-in programming method known in the art, the robot is programmed by manually traversing and saving various waypoints. The tool used for this process is the teach panel, which is a remote control with a graphic display on which the robot status and robot program can be displayed. The user moves the robot to different points by manipulating the Tool Center Point (TCP) (a defined point on the last joint of the robot) in 3 or 6 spatial directions using eg a joystick. The user saves t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G05D1/02B25J9/22G06N20/00
CPCB25J9/16B25J9/1656B25J9/1664G06N20/00B25J9/1658G05B2219/40517G05B2219/39298G05B2219/40395G06F30/20B25J9/163B25J9/1666B25J9/1671G05B2219/40523
Inventor R·杰克尔G·迪尔施
Owner ARTIMINDS ROBOTICS
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