Method for optimizing a robot program and a robot system
AssigneeFanuc Robotics America, Inc.
InventorsJason Tsai, Yi Sun, Sai-Kai Cheng, Min Ren Jean, Hadi Akeel
Life of this patent
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Abstract
An apparatus and a method for optimizing robot performance includes a computer connected to the robot controller for receiving performance data of the robot as the controller executes a path program. The computer uses the performance data, user specified optimization objectives and constraints and a kinematic/dynamic simulator to generate a new set of control system parameters to replace the default set in the controller. The computer repeats the process until the new set of control system parameters is optimized.
Claims16
A robot control system, comprising:
- a robot;
- a first control means including a controller connected to said robot and executing a control program, said robot being operated in accordance with control system parameters specified in said control program;
- means for monitoring actual performance data of said robot during the operation of said robot;
- and
- a second control means connected to said controller and to said means for monitoring, said second control means being responsive to said actual performance data for automatically applying optimization routines to a kinematic/dynamic simulator to modify said control system parameters in said control program in real-time while said robot is operated by said controller.
In a robot system including a manipulator and a controller, a method for optimizing a robot path program within given objectives and accommodating variations in dynamic performance among otherwise similar robots, comprising the steps of:
- a. generating a path program for a robot by a conventional robot teaching method;
- b. providing a computer with a dynamic model of the robot and its control system parameters and an optimization program;
- c. providing the computer with target performance objectives;
- d. connecting the controller for communication with the computer;
- e. operating the robot by the controller executing the path program under a default set of control system parameters;
- f. monitoring a set of performance variables of the robot during operation;
- g. communicating the performance variables to the computer;
- h. executing the optimization program in the computer using the dynamic model and the performance variables to meet the target performance objectives;
- i. generating a new set of control system parameters;
- j. communicating the new set of control system parameters to the controller;
- k. assigning the new set of control system parameters to the path program as the default set of control system parameters;
- l. repeating said steps e. through k. until the new set of control system parameters is substantially similar to the default set of control system parameters resulting in an optimized default set of control system parameters, wherein said control system parameters are automatically modified in said control program in real-time while said robot is operated by said controller;
- and
- m. disconnecting the computer from the controller as the controller continues to operate the robot by executing the path program under the optimized default set of control system parameters.
A robot control system, comprising:
- a robot;
- a robot controller connected to said robot and executing a control program, said robot being operated in accordance with control system parameters specified in said control program;
- means for monitoring actual performance data of said robot during the operation of said robot;
- and
- a computer connected to said robot controller and to said means for monitoring by a communication link, said computer being responsive to said actual performance data for automatically applying optimization routines to a mathematical simulation model to modify said control system parameters in said control program in real-time while said robot is operated by said controller.
Dependencies are inferred from the claim text.