System and a method for controlling movements of an industrial robot

A method for controlling the movements of an industrial robot during a work cycle, wherein the robot visits and performs work on a plurality of workstations in a work cell during the work cycle, the method comprising:

• storing a library of predefined workstations, each comprising:
• a model of a real workstation including a specific type of machine or equipment,
• preprogrammed code designed to control the robot so that the robot carries out a defined task at the workstation, wherein the code is related to the specific type of machine or equipment at the workstation,
• an entry point defining the entrance position to the real workstation, and
• at least one predefined path to be followed by the robot when carrying out the task at the real workstation,
• wherein the method includes during programming of the robot
• displaying information about the predefined workstations on a user interface, allowing an operator to select a set of workstations from the predefined workstations and to specify a desired part flow between selected workstations,
• receiving information on selected workstations and a desired part flow between the selected workstations prior to execution of the work cycle, and
• scheduling an execution order for the selected workstations based on the desired part flow;
• and
• wherein the method includes during execution of the work cycle
• receiving information about external events,
• determining the execution order for the selected workstations based on the desired part flow, and said information about external events,
• adapting the scheduling of the execution order based on the information about external events during the work cycle, and
• moving the robot based on the scheduled execution order and said predefined paths for the selected workstations.

A computer program product, comprising:

• a non-transitory computer readable medium;
• and
• computer program instructions recorded on the computer readable medium and executable by a processor for carrying out a method for controlling the movements of an industrial robot during a work cycle including visiting and performing work on a plurality of workstations in a work cell, the method comprising:
• storing a library of predefined workstations, each comprising:
• a model of a real workstation including a specific type of machine or equipment,
• preprogrammed code designed to control the robot so that the robot carries out a defined task at the workstation, wherein the code is related to the specific type of machine or equipment at the workstation,
• an entry point defining the entrance position to the real workstation, and
• at least one predefined path to be followed by the robot when carrying out the task at the real workstation,
• wherein the method includes during programming of the robot
• displaying information about the predefined workstations on a user interface, allowing an operator to select a set of workstations from the predefined workstations and to specify a desired part flow between selected workstations, and
• receiving information on selected workstations and a desired part flow between the selected workstations prior to execution of the work cycle;
• and
• wherein the method includes during execution of the work cycle
• receiving information about external events,
• determining the execution order for the selected workstations based on the desired part flow, and said information about external events,
• adapting the scheduling of the execution order based on the information about external events during the work cycle, and
• moving the robot based on the scheduled execution order, the preprogrammed robot code, and said predefined paths for the selected workstations.