LEARNING PATH CONTROL

• US 20150336267A1
• Filed: 05/21/2014
• Published: 11/26/2015
• Est. Priority Date: 05/21/2014
• Status: Active Grant

• Current Assignee: Fanuc America Corporation (Fanuc Corporation)
• Original Assignee: Fanuc America Corporation (Fanuc Corporation)
• Inventors: Sun, Yi, Tsai, Jason, Musunur, Laxmi, Sharpe, Michael
• Granted Patent: US 10,836,038 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: G05B 19/0405 Programme-control specially adapted for machine tool control and not otherwise provided for
• CPC Class Codes: G05B 19/404 characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia G05B19/19, G05B19/41 take precedence
• CPC Class Codes: G05B 2219/37092 Display position actual and or target
• CPC Class Codes: G05B 2219/49166 Compensation for measured deviation of tool path, as function of lenght of path
• CPC Class Codes: Y10S 901/41 Tool

Abstract

A robot is moved along a first continuous programmed path with a robot controller executing a learning path control program without performing an operation on a workpiece. The actual movement of the robot along the first continuous programmed path is recorded. The first continuous programmed path is adjusted to create a second programmed path. The robot is moved along the second continuous programmed with the robot controller executing the learning path control program without performing the operation on the workpiece. The actual movement of the robot along the second continuous programmed path is recorded. Traces of the recorded actual movements of the robot along the first continuous programmed path and the second continuous programmed path are displayed.

Claims

1. A method for controlling a robot, comprising:

running a user program to cause the robot to move along a first continuous programmed path to generate a first trace representative of an actual tool center point position;

computing a path deviation between the first continuous programmed path and the first trace;

adjusting the user program by the amount of computed path deviation to create a compensated user program;

storing the first trace representative of an actual tool center point position in a memory device;

running the compensated user program to cause the robot to move along a second continuous programmed path to generate a second trace representative of an actual tool center point position; and

displaying the first trace and the second trace.

2. The method of claim 1, wherein the user is permitted to select as a desired continuous path of one of the first trace and the second trace.

3. The method of claim 6, wherein the operator selects an acceptable desired continuous path from a plurality of traces.

4. The method of claim 1, further comprising the step of:

allowing an operator to cause the steps of

adjusting the user program by the amount of computed path deviation to create a compensated user program; and

running the compensated user program to cause the robot to move along a second continuous programmed path to generate a second trace representative of an actual tool center point position

to repeat until the operator selects an acceptable desired continuous path.

5. The method of claim 1, wherein the first continuous programmed path is a standard geometric shape.

6. The method of claim 1, wherein the first continuous programmed path is defined by CAD data.

7. The method of claim 1, wherein at least one of the first trace and the second trace further includes a display of a desired continuous path.

8. The method of claim 1, wherein the user program adjusting step automatically adjusts one of process speed, tolerance, and orientation.

9. A method for controlling a robot comprising the steps of:

moving a robot along a first continuous programmed path with a robot controller executing a learning path control program, the robot moved without performing an operation on a workpiece;

recording the actual movement of the robot along the first continuous programmed path;

iteratively adjusting the first continuous programmed path to create a one or more modified continuous programmed paths;

moving the robot along the one or more modified continuous programmed paths with the robot controller executing the learning path control program, the robot moved without performing the operation on the workpiece;

recording the actual movement of the robot along the one or more modified continuous programmed paths;

displaying a plurality of traces of the recorded actual movements of the robot along the first continuous programmed path and the one or more modified continuous programmed path;

permitting an operator to select as a desired continuous path one of the plurality of traces of the first programmed continuous path and the one or more modified continuous programmed paths; and

moving the robot along the desired continuous path with the robot controller, the robot moved while performing the operation on the workpiece.

10. The method of claim 9, wherein the first continuous programmed path is a standard geometric shape.

11. The method of claim 9, wherein the first continuous programmed path is defined by CAD data.

12. The method of claim 9, wherein at least one of displayed traces further includes a display of a desired continuous path.

13. The method of claim 9, wherein the user program adjusting step automatically adjusts one of process speed, tolerance, and orientation.