Method and apparatus for adjusting robot motion path
AssigneeABB Schweiz AG
InventorsFangfang Zhao, Lei Mao, Shaojie Cheng
Life of this patent
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Abstract
Embodiments of present disclosure relate to adjusting a robot motion path. In the method for adjusting a robot motion path, a first processing procedure may be performed on a first workpiece to obtain a first product. Then, first process data may be obtained, where the first process data describes an attribute of the first processing procedure for obtaining the first product from the first workpiece. Next, based on the obtained first process data, a robot motion path of a second processing procedure that is to be performed on the first product by a robot may be adjusted. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for adjusting a robot motion path.
Claims19
A method for adjusting a robot motion path, comprising:
- performing a first processing procedure on a first workpiece to obtain a first product,
- wherein the first processing procedure comprises shaping the first workpiece into the first product;
- obtaining first process data that describes an attribute of the first processing procedure for obtaining the first product from the first workpiece, wherein the first process data is obtained during the shaping of the first workpiece into the first product;
- generating a predicted model for obtaining the first product based on the obtained first process data;
- determining a model difference between the predicted model and an ideal model of the first product;
- classifying the model difference into one of a plurality of defined different thickness removal classification levels;
- and
- adjusting the robot motion path based on the one of the plurality of defined different thickness removal classification levels of the model difference between the predicted model and the ideal model of the first product.
An apparatus for adjusting a robot motion path, comprising:
- a performing unit configured to perform a first processing procedure on a first workpiece to obtain a first product,
- wherein the first processing procedure comprises shaping the first workpiece into the first product;
- an obtaining unit configured to obtain first process data that describes an attribute of the first processing procedure for obtaining the first product from the first workpiece, determine a model difference between a predicted model and an ideal model for obtaining the first product and classify the model difference into one of a plurality of defined thickness removal classification levels, wherein the first process data is obtained during the shaping of the first workpiece into the first product;
- and
- an adjusting unit configured to adjust, based on the obtained first process data and the one of the plurality of levels, a robot motion path of a second processing procedure that is to be performed on the first product by a robot.
A system for adjusting a robot motion path, comprising:
- a computer processor coupled to a computer-readable memory unit, the memory unit comprising instructions on a non-transitory computer readable medium that when executed by the computer processor implements at least the following:
- perform a first processing procedure on a first workpiece to obtain a first product,
- wherein the first processing procedure comprises shaping the first workpiece into the first product;
- obtain first process data that describes an attribute of the first processing procedure for obtaining the first product from the first workpiece, wherein the first process data is obtained during the shaping of the first workpiece into the first product;
- determine a model difference between a predicted model and an ideal model for obtaining the first product and classify the model difference into one of a plurality of defined thickness removal classification levels;
- and
- adjust, based on the obtained first process data and the one of the plurality of levels, a robot motion path of a second processing procedure that is to be performed on the first product by a robot.
A non-transitory computer readable medium having instructions stored thereon, the instructions, when executed on at least one processor, cause the at least one processor to implement at least:
- perform a first processing procedure on a first workpiece to obtain a first product,
- wherein the first processing procedure comprises shaping the first workpiece into the first product;
- determine first process data that describes an attribute of the first processing procedure for obtaining the first product from the first workpiece, wherein the first process data is obtained during the shaping of the first workpiece into the first product;
- determine a model difference between a predicted model and an ideal model for obtaining the first product and classify the model difference into one of a plurality of defined thickness removal classification levels;
- and
- adjust, based on the obtained first process data and classification level, a robot motion path of a second processing procedure that is to be performed on the first product by a robot.
Dependencies are inferred from the claim text.