System for evaluating the capability of a work-performing robot to reproduce a programmed series of motions

• US 4,305,028 A
• Filed: 04/04/1980
• Issued: 12/08/1981
• Est. Priority Date: 04/04/1980
• Status: Expired due to Term

• Current Assignee: USV Pharmaceutical Corporation
• Original Assignee: Nordson Corporation
• Inventors: Crum, Gerald W., Kostas, Evans, Walker, Jerome F.
• Primary Examiner(s): Truhe, J. V.
• Assistant Examiner(s): Indyk, Eugene S.
• Application Number:
  US06/137,234
• Time in Patent Office: 613 Days
• Field of Search: 318/563, 318/562, 318/565, 318/566, 318/568, 318/571, 318/644, 318/645, 318/651, 318/434, 318/461, 318/462, 318/463, 318/464, 318/465, 318/456, 318/458, 318/490, 318/488, 414/4, 414/5, 414/6, 340/648, 340/669, 340/670, 340/671, 340/679, 340/680, 346/17, 346/18
• US Class Current: 318/565
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/0081 with master teach-in means
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence
• CPC Class Codes: G05B 2219/42309 Excess in speed

Abstract

A system for evaluating whether a work-performing robot can perform a series of programmed motions is disclosed which includes means for continuously comparing the velocity of the various links of a robot simulator, which is manually moved through the sequence of motions to be programmed, against predetermined velocity limits associated with the corresponding links of the work-performing robot which will reproduce the programmed steps, and providing humanly perceptible alarm indications uniquely identifiable with the various robot links when the motions manually programmed on the robot simulator exceed the velocity limits of the work-performing robot. Additionally, the individual velocities of the various robot simulator links are summed, and the sum continuously compared against the power limit of the hydraulic pump driving the link actuators of the work-performing robot. Should the aggregate velocity of the robot simulator links exceed the power capability of the hydraulic pump, that is, the pump capacity, an alarm indication is provided. In spray coating robot applications, the alarm indications occasioned by excessive link velocities, as well as excessive demands on the hydraulic pump, are recorded along with information indicating whether or not during a particular alarm condition the spray gun was ON or OFF. This record enables the manually programmed motion sequence to be evaluated to determine whether or not the alarm conditions which occurred during programming can be safely ignored and the program used to operate the work-performing robot.

Claims

1. A system for evaluating the performance capability of a relatively massive, work-performing, multi-link, multi-degree of freedom robot with respect to a series of programmable motions, said robot having different velocity limitations for each of said links, comprising:

a relatively lightweight hand manipulatable robot simulator having multiple links connected to permit relative motion therebetween to define plural degrees of freedom, said simulator links and degrees of freedom simulating those of said work-performing robot,

velocity transducing means associated with said simulator links to provide actual velocity signals correlated to the actual velocity of said simulator links when said simulator is hand manipulated through a series of programmable motions,

means for establishing velocity limitation reference signals correlated to velocity limitations of said work-performing robot links,

alarm condition sensing means responsive to said actual velocity signals and said velocity limitation reference signals for providing different alarm signals when alarm conditions exist for different links due to the velocity of said simulator links exceeding said velocity limitations of said work-performing robot links, and

alarm indicating means responsive to said alarm signals for providing a humanly perceptible alarm indication substantially concurrently with the occurrence of an alarm condition.

2. The system of claim 1 wherein said alarm indicating means includes plural link alarm indicators each responsive to a different alarm condition sensing means for a different link for providing different humanly perceptible alarm indications uniquely identifiable with different links.

3. The system of claim 2 wherein said alarm indicating means further includes an additional humanly perceptible system alarm indicator collectively responsive to said different alarm signals for providing a humanly perceptible system alarm indication in the event one or more link alarm conditions exist.

4. The system of claims 1 or 2 or 3 further including

a single power source, having a power limit, for powering a specific plurality of links of said work-performing robot,

means for establishing an excessive power limit reference signal correlated to the maximum permissible sum of velocities of said specific plurality of work-performing robot links which can be powered by a single power source at any given instant of time, said sum being less than the total of said velocity limits of each of said links of said specific plurality of links of said work-performing robot,

means for summing the actual velocity signals of the simulator links corresponding to said specific plurality of work-performing robot links powered by said single power source and providing a summation signal correlated thereto,

excessive power alarm sensing means responsive to said summation signal and said excessive power limit reference signal for providing an excessive power alarm signal when the power limit of said power source is exceeded collectively by said specific plurality of links although not exceeded by the individual velocity limit of any one of said individual links of said specific plurality, and

excessive power alarm condition indicating means responsive to said excessive power alarm signal for providing a humanly perceptible indication when an alarm condition exists by reason of said limit of said power source being exceeded.

5. The system of claim 3 wherein said plural link alarm indicators provide visually perceptible alarms uniquely identifiable with said different links, and wherein said system alarm indicator provides an audible alarm.

6. The system of claim 1 further including

a switch element associated with said robot simulator manually operable between OFF and ON conditions corresponding to OFF and ON conditions of a utilization device movable by said massive robot,

means to monitor the condition of said switch element when said robot simulator is hand manipulated to different positions,

means to record said alarm signals, and

means to record the monitored condition of said switch element in association with said record of said alarm signals to facilitate determination of the condition of said switch element at the time an alarm condition exists.

7. The system of claim 4 further including

a switch element associated with said robot simulator manually operable between OFF and ON conditions corresponding to OFF and ON conditions of a utilization device movable by said work-performing robot,

means to monitor the condition of said switch element when said robot simulator is hand manipulated to different positions,

means to record said alarm signals, and

means to record the condition of said switch element in association with said record of said alarm signals to facilitate determination of the condition of said switch element at the time an alarm condition exists.

8. The system of claim 1 further including means to record the amount by which the actual velocity of said simulator links exceeds said velocity limits under alarm conditions.

9. The system of claim 6 further including

means to record the amount by which the actual velocity of said simulator links exceeds said velocity limits under alarm conditions, and

wherein said switch element condition recording means is in association with said record of said amount by which said actual velocity of said simulator links exceeds said velocity limit under alarm conditions.

10. The system of claim 4 further including

means to record the amount by which the actual velocity of said simulator links exceeds said velocity limits under alarm conditions,

means to record the amount by which said summation signal exceeds said excessive power limit reference signal under alarm conditions,

a switch element associated with said robot simulator manually operable between OFF and ON conditions corresponding to OFF and ON conditions of a utilization device movable by said work-performing robot,

means to monitor the condition of said switch element when said robot simulator is hand manipulated to different positions, and

means to record the condition of said switch element in association with said records of said excess simulator link velocity and said excess power.

11. The system of claim 1 further including

means to sustain said alarm indication following termination of said alarm signal, and

selectively operable means to terminate said sustained alarm indication.

12. The system of claim 4 further including

means to sustain said alarm indications following termination of said alarm signals, and

selectively operable means to terminate said sustained alarm indications.

13. The system of claim 1 wherein said velocity limitation reference signal means and said alarm condition sensing means are remotely located relative to said robot simulator, velocity transducing means and alarm indicating means, and further including a communication link interconnecting said remotely located means and said transducing means and alarm indicating means.

14. The system of claim 4 wherein said excessive power limit reference signal means and said excessive power alarm sensing means are remotely located relative to said excessive power alarm condition indicating means, and wherein said excessive power alarm signal is transmitted to said excessive power alarm condition indicating means from said excessive power alarm sensing means via a communication link.

15. A method for evaluating the performance capability of a relatively massive, work-performing, multi-link, multi-degree of freedom robot with respect to a series of programmable motions, said robot having different velocity limitations for each of said links, comprising:

manually manipulating through said series of motions a relatively lightweight robot simulator having multiple links connected to permit relative motion therebetween to define plural degrees of freedom for simulating said work-performing robot,

generating, with velocity transducing means associated with said simulator links, actual velocity signals correlated to the actual velocity of said simulator links when said simulator is hand manipulated through a series of programmable motions,

generating velocity limitation reference signals correlated to velocity limitations of said work-performing robot links,

comparing said actual velocity signals and said velocity limitation reference signals and providing in response thereto different alarm signals when alarm conditions exist for different links due to the velocity of said simulator links exceeding said velocity limitations of said work-performing robot links, and

providing, in response to said alarm signals, a humanly perceptible alarm indication substantially concurrently with the occurrence of an alarm condition.

16. The method of claim 15 further including the steps of:

generating an excessive power limit reference signal correlated to the maximum permissible sum of velocities of said specific plurality of work-performing robot links which can be powered by a single power source at any given instant of time, said sum being less than the total of said velocity limits of each of said links of said specific plurality of links of said work-performing robot,

summing the actual velocity signals of the simulator links corresponding to said specific plurality of work-performing robot links powered by said single power source and providing a summation signal correlated thereto,

comparing said summation signal and said excessive power limit reference signal and providing in response thereto an excessive power alarm signal when the power limit of said power source is exceeded collectively by said specific plurality of links although not exceeded by the individual velocity limit of any one of said individual links of said specific plurality, and

providing a humanly perceptible excessive power alarm condition indication in response to said excessive power alarm signal when an alarm condition exists by reason of said limit of said power source being exceeded.

17. The method of claim 15 or 16 further including the steps of:

generating a signal correlated to the condition of a switch element associated with said robot simulator when said robot simulator is hand manipulated to different positions, said switch element being manually operable between OFF and ON conditions corresponding to OFF and ON conditions of a utilization device movable by said massive robot,

recording said alarm signals, and

recording the condition signal of said switch element in association with said record of said alarm signals to facilitate determination of the condition of said switch element at the time an alarm condition exists.

18. The method of claim 15 further including the steps of recording the amount by which the actual velocity of said simulator links exceeds said velocity limits under alarm conditions.

19. The method of claim 16 further including the steps of:

recording the amount by which the actual velocity of said simulator links exceeds said velocity limits under alarm conditions,

recording the amount by which said summation signal exceeds said aggregate power limit reference signal under alarm conditions,

generating a signal correlated to the condition of a switch element associated with said robot simulator when said robot simulator is hand manipulated to different positions, said switch element being manually operable between OFF and ON conditions corresponding to OFF and ON conditions of a utilization device movable by said work-performing robot, and

recording the condition of said switch element in association with said records of said excess simulator link velocity and said excess power.

20. A system for evaluating the performance capability of a relatively massive, work-performing, multi-link, multi-degree of freedom robot with respect to a series of programmable motions, said robot having different acceleration-induced stress and/or deflection limitations for each of said links, comprising:

a relatively lightweight hand manipulatable robot simulator having multiple links connected to permit relative motion therebetween to define plural degrees of freedom, said simulator links and degrees of freedom simulating those of said work-performing robot,

acceleration transducing means associated with said simulator links to provide actual acceleration signals correlated to the actual acceleration of said simulator links when said simulator is hand manipulated through a series of programmable motions,

means for establishing acceleration limitation reference signals correlated to acceleration limitations of said work-performing robot links,

alarm condition sensing means responsive to said actual acceleration signals and said acceleration limitation reference signals for providing different alarm signals when alarm conditions exist for different links due to the acceleration of said simulator links exceeding said acceleration limitations of said work-performing robot links, and

alarm indicating means responsive to said alarm signals for providing a humanly perceptible alarm indication substantially concurrently with the occurrence of an alarm condition.

21. The system of claim 20 wherein said alarm indicating means includes plural link alarm indicators each responsive to a different alarm condition sensing means for a different link for providing different humanly perceptible alarm indications uniquely identifiable with different links.

22. The system of claim 21 wherein said alarm indicating means further includes an additional humanly perceptible system alarm indicator collectively responsive to said different alarm signals for providing a humanly perceptible system alarm indication in the event one or more link alarm conditions exist.