Optimisation method for a coating robot and corresponding coating system

An optimisation method for calculating an optimised movement path of a coating robot which guides an application device over a component surface to be coated, comprising:

• a) defining successive path points of the movement path through path point data, wherein the path point data for each path point at least partially defines a spatial position of a reference point of the application device at the respective path point, and at least partially defines a spatial orientation of the application device at the respective path point, and
• b) calculating possible robot configurations for the individual path points of the movement path, wherein each robot configuration includes all axis positions of all the robot axes and at least some of the path points are respectively optionally achievable through a plurality of different robot configurations,
• c) calculating a path point-related quality value respectively individually for the different possible robot configurations of the individual path points, so that a quality value is assigned to each robot configuration,
• d) selecting one of the possible robot configurations for the individual path points dependent upon the path point-related quality value of the different possible robot configurations,
• e) calculating different possible sequences of the robot configurations, wherein the coating robot, on sequential performance of the sequence of the robot configurations, guides the application device with the respective pre-determined spatial position and the respective pre-determined spatial orientation along the pre-determined movement path,
• f) calculating a sequence-related quality value for the different possible sequences of robot configurations, so that a sequence-related quality value is assigned to each sequence, wherein the sequence-related quality value represents required axis velocities between the successive robot configurations of the sequence of the robot configurations, and
• g) selecting one of the different possible sequences of robot configurations dependent upon the sequence-related quality value, wherein the selection of one of the possible sequences of the robot configurations takes place such that the required axis velocities between the successive robot configurations are minimised.

An optimisation method for calculating an optimised movement path of a coating robot which guides an application device over a component surface to be coated, comprising:

• a) defining successive path points of the movement path through path point data, wherein the path point data for each path point at least partially defines a spatial position of a reference point of the application device at the respective path point, and at least partially defines a spatial orientation of the application device at the respective path point, and
• b) calculating possible robot configurations for the individual path points of the movement path, wherein each robot configuration includes all axis positions of all the robot axes and at least some of the path points are respectively optionally achievable through a plurality of different robot configurations,
• c) calculating a path point-related quality value respectively individually for the different possible robot configurations of the individual path points, so that a quality value is assigned to each robot configuration,
• d) selecting one of the possible robot configurations for the individual path points dependent upon the path point-related quality value of the different possible robot configurations,
• e) calculating different possible sequences of the robot configurations, wherein the coating robot, on sequential performance of the sequence of the robot configurations, guides the application device with the respective pre-determined spatial position and the respective pre-determined spatial orientation along the pre-determined movement path,
• f) calculating a sequence-related quality value for the different possible sequences of robot configurations, so that a sequence-related quality value is assigned to each sequence, wherein the sequence-related quality value represents required axis accelerations between the successive robot configurations of the sequence of the robot configurations, and
• g) selecting one of the different possible sequences of robot configurations dependent upon the sequence-related quality value, wherein the selection of one of the possible sequences of the robot configurations takes place such that the required axis accelerations between the successive robot configurations are minimised.