Processing path generating device and method thereof
AssigneeIndustrial Technology Research Institute
InventorsTien-Yun Chi, Cheng-Han Tsai, Kuo-Feng Hung
Life of this patent
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Abstract
A processing path generating device including an intuitive path teaching device and a controller is provided. The intuitive path teaching device is provided for gripping and moving with respect to a workpiece to create a moving path. The intuitive path teaching device has a detecting portion for detecting a surface feature of the workpiece. The controller is connected to the intuitive path teaching device. The controller generates a processing path according to the moving path of the intuitive path teaching device and the surface feature of the workpiece.
Claims15
A processing path generating device, comprising:
- an intuitive path teaching device provided for gripping and moving with respect to a workpiece to create a plurality of moving paths for several times for a controller with movement information of the intuitive path teaching device, such that the controller obtains the plurality of moving paths without moving a robotic arm, wherein the intuitive path teaching device is used for detecting a surface feature of the workpiece, wherein the intuitive path teaching device comprises:
- a path positioning sensor configured to collect and record work coordinates of the plurality of moving paths and a distance of the path positioning sensor relative to the workpiece;
- and
- a terminal interface feedback device for outputting a terminal sensing signal to the path positioning sensor;
- the controller connected to the intuitive path teaching device for generating a processing path according to the plurality of moving paths of the intuitive path teaching device, the surface feature of the workpiece and the terminal sensing signal outputted by the terminal interface feedback device;
- a path optimization module for receiving the plurality of moving paths, performing a simulation analysis on the plurality of moving paths, wherein the simulation analysis comprises collision analysis, path smoothness analysis, limit analysis, singularity analysis and precision analysis, and storing an optimized moving path in the controller, wherein the path optimization module comprises:
- a precision deviation calibrating unit for modifying the optimized moving path by repeatedly iterated through each of intuitive path teachings to reduce precision deviation of the processing path.
A processing path generating method, comprising:
- collecting and recording a plurality of moving paths of an intuitive path teaching device for several times for a controller with movement information of the intuitive path teaching device, such that the controller obtains the plurality of moving paths without moving a robotic arm, wherein the intuitive path teaching device comprises a path positioning sensor configured to collect and record work coordinates of the plurality of moving paths and a distance of the path positioning sensor relative to a workpiece;
- and a terminal interface feedback device for outputting a terminal sensing signal to the path positioning sensor;
- detecting a surface feature of the workpiece by the terminal interface feedback device;
- and
- generating a processing path according to the plurality of moving paths of the intuitive path teaching device, the surface feature of the workpiece and the terminal sensing signal outputted by the terminal interface feedback device,
- wherein the method further comprises:
- performing a simulation analysis on the plurality of moving paths and storing an optimized moving path in the controller, wherein the simulation analysis comprises collision analysis, path smoothness analysis, limit analysis, singularity analysis and precision analysis;
- and
- performing a precision deviation calibrating step for modifying the optimized moving path by repeatedly iterated through each of intuitive path teachings to reduce precision deviation of the processing path.
Dependencies are inferred from the claim text.