???Corner movement??? with industrial robots with defined speed and position tolerances

摘要

Many applications in industrial robotics such as applying adhesives or cutting require movements of the tool in the process relevant speed. The path in space is programmed by the user as sequence of Point-to-point motion commands, linear and circular motion commands. But in general the tool has to stop in the transition between two path segments. If the programmer use spline or fly by commands, it is possible to move through a via point or close to that point without a stop. But by specifying the appropriate parameters that affect the spline or fly by method the user can not directly influence the deviation from the desired speed and the deviation from a via point. Here a user-friendly solution for the transition between line segments is presented. The tool CorDe (Corner Drive with Defined Speed) visualizes the characteristic of the distance to the corner (position tolerance) depending on the speed deviation. The user can choose an adequate pair of distance and speed deviation. The tool can be used to calculate the time series of the poses. It is also possible to set up a code generator which generates commands in the available robot programming language to approximate the motion generated by CorDe. CorDe has been tested in simulations and experiments.