Method of detecting an interference in the control of a plurality of mechanical systems
First Claim
1. A method of detecting the interference of a plurality of mechanical systems by simulating a general asynchronous control of said mechanical systems in a motion simulation mode, wherein a plurality of workpieces may be moving independently of each other and a plurality of work tools may be moving independently of each other, said method comprising the steps of:
- for each individual one of said mechanical systems within said plurality, calculating the mutual positions of said individual one of said mechanical systems with respect to the other of said mechanical systems within said plurality and calculating the degrees of risk obtained from the proximity of said mutual positions to one another;
detecting a highest degree of risk occurring in a predetermined period of time which is determined according to a possible time error between an actual machining operation and a simulation and identifying the highest risk positions corresponding to said highest risk; and
displaying said mutual positions thus calculated and said highest risk positions, in said motion simulation mode, said mutual position of each said mechanical system being displayed separately or jointly prior to the actual machining process.
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Abstract
A method of detecting an interference in an apparatus such as a machining tool or robot which performs the asynchronous control of a plurality of mechanical systems. According to the detecting method, the highest degree of risk in a predetermined period of time and the highest risk position corresponding to the highest degree of risk can be detected so that figures are displayed as a motion simulation in such a manner that the mutual positions of the systems are moved with the advancement of the simulation while the highest degree of risk occurring in the predetermined period of time. As a result, the control of the mechanical systems can be achieved with high accuracy and ease.
14 Citations
2 Claims
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1. A method of detecting the interference of a plurality of mechanical systems by simulating a general asynchronous control of said mechanical systems in a motion simulation mode, wherein a plurality of workpieces may be moving independently of each other and a plurality of work tools may be moving independently of each other, said method comprising the steps of:
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for each individual one of said mechanical systems within said plurality, calculating the mutual positions of said individual one of said mechanical systems with respect to the other of said mechanical systems within said plurality and calculating the degrees of risk obtained from the proximity of said mutual positions to one another; detecting a highest degree of risk occurring in a predetermined period of time which is determined according to a possible time error between an actual machining operation and a simulation and identifying the highest risk positions corresponding to said highest risk; and displaying said mutual positions thus calculated and said highest risk positions, in said motion simulation mode, said mutual position of each said mechanical system being displayed separately or jointly prior to the actual machining process. - View Dependent Claims (2)
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Specification
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- Resources
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Current AssigneeMitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
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Original AssigneeMitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
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InventorsTsujido, Yoshinori
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Primary Examiner(s)RUGGIERO, JOSEPH F
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Application NumberUS07/309,574Time in Patent Office736 DaysField of Search364/474.2, 364/474.19, 364/474.22, 364/474.26, 364/578, 318/563, 318/565, 318/568.1US Class Current700/178CPC Class CodesG05B 19/4061 Avoiding collision or forbi...G05B 2219/40479 Use graphic display, layout...G05B 2219/49143 Obstacle, collision avoidin...
