Method for optimising the performance of a robot
AssigneeABB Research Ltd.
InventorsBehnam Kamrani, Viktor Berbyuk, Xiaolong Feng, Daniel Wäppling
Life of this patent
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Abstract
A method for optimizing performance of a robot. At least one experiment is designed including at least two tests. Each test differs from at least one other test in the experiment regarding the location of the task in relation to the robot. The boundaries that are allowable for location of a task are calculated/determined. The effect on optimality for at least one test in the experiment is calculated/determined. The experimental data is fit to an algorithm. The optimal location of the task is calculated/determined.
Claims19
A method for optimizing the location of a task to be performed relative to a robot, the method comprising:
- defining a number of tests to be simulated;
- defining the plurality of tests, the tests differing from each other regarding a location of the task in relation to the robot;
- determining boundaries for the location of the task to be performed, wherein the robot can perform the task within the boundaries;
- adjusting the locations of the task in the tests so that the locations are inside the boundaries;
- performing simulations, on a processor, of the defined tests with regarding to one aspect of optimality;
- determining a mathematical function describing a relationship between the one aspect of optimality and the location of the task to be performed relative the robot based on a result of the simulations and the locations of the task in each of the respective tests;
- calculating an extreme point of the determined mathematical function;
- and
- calculating an optimal location of the task to be performed relative to the robot based on the calculated extreme point of the determined mathematical function.
A system for optimizing the location of a task to be performed relative to a robot, the system comprising a processor configured to:
- determine boundaries for the location of the task to be performed, wherein the robot can perform the task within the boundaries;
- adjust the location of a defined task in a predefined number of tests so that the locations are inside the boundaries, wherein the tests differ from each other regarding a location of the task in relation to the robot;
- perform simulations of the defined tests with regarding to one aspect of optimality;
- determine a mathematical function describing a relationship between the one aspect of optimality and the location of the task to be performed relative the robot based on a result of the simulations and the locations of the task in each of the respective tests;
- calculate an extreme point of the determined mathematical function;
- and
- calculate an optimal location of the task to be performed relative to the robot based on the calculated extreme point of the mathematical function.
A computer program product, comprising:
- a computer readable medium;
- and
- computer program code instructions recorded on the computer readable medium and executable by a processor for carrying out a method for optimizing performance of a task relative to a robot, the method comprising:
- defining a predefined number of tests, the tests differing from each other regarding a location of the task in relation to the robot;
- determining boundaries for the location of the task to be performed, wherein the robot can perform the task within the boundaries;
- adjusting the locations of the task in the tests so that the locations are inside the boundaries;
- performing simulations of the defined tests with regarding to one aspect of optimality;
- determining a mathematical function describing a relationship between the one aspect of optimality and the location of the task to be performed relative the robot based on a result of the simulations and the locations of the task in each of the respective tests;
- calculating an extreme point of the determined mathematical function;
- and
- calculating an optimal location of the task to be performed relative to the robot based on the calculated extreme point of the determined mathematical function.
Dependencies are inferred from the claim text.