Method and a device for adjusting operating parameters of a robot, a program and a recording medium for the method
AssigneeStaubli Faverges
InventorsLüc Joly, Matthieu Guilbert, Pierre-Brice Wieber
Life of this patent
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Abstract
A method of adjusting operating parameters of a robot to move an effector tool along a given path in an optimum cycle time including a step of modifying operating parameter values to cause the cycle time to approach a optimal value wherein the parameters are modified so as to approach an extremum of a compromise function including at least first and second terms, the first term being a function of a cycle time and the second term being a function of at least one of temperature and degree of wear of an actuator.
Claims12
A method of adjusting operating parameters for at least one actuator of a robot for moving an effector tool along a given path with an optimum cycle time, the operating parameters determining at least a travel speed of the tool along the given path, the method making use of measurements taken during one of a real movement of the effector tool and on the basis of measurements delivered by a robot movement emulator, and comprising:
- a) supplying operating parameters to an actuator controller to control operation of the at least one actuator to move the effector tool along the given path and determining a value of a cycle time for the effector tool to travel the given path as a function of the values of the operating parameters;
- b) sensing at least one of the value of an operating temperature and a value of a degree of wear of the at least one actuator for moving the effector tool of the robot resulting from the effector tool moving along the given path and supplying the at least one value to a computer device;
- and
- c) using the computer device to modify the values of the operating parameters to move the cycle time closer to its optimum value;
- wherein, during step c), the values of the operating parameters are automatically modified so as to approach an extremum of a compromise function, the compromise function comprising at least first and second terms, the first term being a function of the cycle time determined during step a), and the second term being a function of the at least one of temperature and the degree of wear determined during step b) and wherein the first term varies in a direction opposite to a direction of the second term.
A device for adjusting operating parameters of actuators of a robot for moving an effector tool along a given path in an optimum cycle time, the operating parameters determining at least the travel speed of the effector along the given path, the device responding to measurements performed during at least one of real time movement of the effector tool and readings delivered by a robot movement emulator, and comprising:
- a) a determination module for determining a value of the cycle time as a function of the values of the operating parameters supplied to a controller for controlling operation of the at least one actuator, and for determining at least one of a value of the operating temperature and a value of a degree of wear of the at least one actuator of the robot as a result of traveling along the complete path;
- and
- b) a modification module for automatically modifying the values of the operating parameters in order to cause the cycle time to approach an optimum value;
- wherein the modification module is suitable for modifying the values of the operating parameters so as to approach an extremum of a compromise function, the compromise function including at least first and second terms, the first term being a function of the cycle time and the second term being a function of the at least one of the temperature and the degree of wear determined by the module a).
Dependencies are inferred from the claim text.