System For Optimizing Robot Performance

A method for assisting a user in programming a robot comprising a plurality of joints and a Tool Centre Point, wherein the method comprises:

• providing predefined possible values for a measurable physical condition of at least two joints, the possible values being subdivided into two or more ranges for each of the at least two joints,
• acquiring a first path of the Tool Centre Point,
• receiving, for each of a plurality of points of the first path and for the at least two joints, a value associated with the physical condition of the joint,
• determining, for each received value, which of said ranges the value is associated with,
• generating at least one additional path which is parallel to the first path and which has a corresponding plurality of points,
• associating each of the at least two joints to a respective path of any of:
• the at least one additional path and the first path, and
• sending instructions to a display, to illustrate the first path and the at least one additional path, together with the information of which range the values are associated with at the plurality of points of the paths.

A computer program directly loadable into the internal memory of the computer or a processor, comprising software code portions for performing the steps of a method when said program is running on one or more computers, the method including the steps:

• providing predefined possible values for a measurable physical condition of at least two joints, the possible values being subdivided into two or more ranges for each of the at least two joints,
• acquiring a first path of the Tool Centre Point,
• receiving, for each of a plurality of points of the first path and for the at least two joints, a value associated with the physical condition of the joint,
• determining, for each received value, which of said ranges the value is associated with,
• generating at least one additional path which is parallel to the first path and which has a corresponding plurality of points,
• associating each of the at least two joints to a respective path of any of:
• the at least one additional path and the first path, and
• sending instructions to a display, to illustrate the first path and the at least one additional path, together with the information of which range the values are associated with at the plurality of points of the paths.

A computer readable medium having a program recorded thereon to make one or more computers perform the steps of a method when said program is running on the computer, the steps comprising:

• providing predefined possible values for a measurable physical condition of at least two joints, the possible values being subdivided into two or more ranges for each of the at least two joints,
• acquiring a first path of the Tool Centre Point,
• receiving, for each of a plurality of points of the first path and for the at least two joints, a value associated with the physical condition of the joint,
• determining, for each received value, which of said ranges the value is associated with,
• generating at least one additional path which is parallel to the first path and which has a corresponding plurality of points,
• associating each of the at least two joints to a respective path of any of:
• the at least one additional path and the first path, and
• sending instructions to a display, to illustrate the first path and the at least one additional path, together with the information of which range the values are associated with at the plurality of points of the paths.