公开(公告)号：WO2010057528A1

公开(公告)日：2010-05-27

申请号：PCT/EP2008/065873

申请日：2008-11-19

Applicant: ABB Technology AB ,  ELIASSON, Per Emil

Inventor： ELIASSON, Per Emil

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/36252 ,  G05B2219/40463 ,  G05B2219/40511

Abstract: The present invention relates to a device and method for optimizing a programmed movement path (5) for an industrial robot (1) holding a tool (3) to carry out work along the path during a work cycle, wherein the movement path comprises information on positions and orientations for the tool at a plurality of target points (7) on the movement path. The method comprises for at least one of the target points the following steps: receiving a tolerance interval (α) for the orientation of the tool in the target point, determining movements of the robot between the target point and one or more of the other target points on the path for a plurality of different tool orientations within the tolerance interval, selecting one of the different tool orientations as the tool orientation for the target point based on the determined movements of the robot and with regard to minimizing cycle time, and generating a robot program based on the selected orientation of the tool at the target point.

Abstract translation: 本发明涉及一种用于优化用于工业机器人（1）的编程移动路径（5）的装置和方法，所述工业机器人保持工具（3）在工作循环期间沿着所述路径执行工作，其中所述移动路径包括关于 在移动路径上的多个目标点（7）上的工具的位置和取向。 该方法包括以下步骤中的至少一个目标点：接收用于目标点中的工具的方位的公差间隔（a），确定目标点与另一个目标中的一个或多个之间的机器人的移动 基于所确定的机器人的移动，并且关于最小化周期时间，选择不同的刀具方向之一作为目标点的刀具方位，并且生成 基于目标点上工具的选定方向的机器人程序。

公开(公告)号：EP2355956A1

公开(公告)日：2011-08-17

申请号：EP08875344.7

申请日：2008-11-19

Applicant: ABB Technology AB

Inventor： ELIASSON, Per Emil

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/36252 ,  G05B2219/40463 ,  G05B2219/40511

Abstract: The present invention relates to a device and method for optimizing a programmed movement path (5) for an industrial robot (1) holding a tool (3) to carry out work along the path during a work cycle, wherein the movement path comprises information on positions and orientations for the tool at a plurality of target points (7) on the movement path. The method comprises for at least one of the target points the following steps: receiving a tolerance interval (α) for the orientation of the tool in the target point, determining movements of the robot between the target point and one or more of the other target points on the path for a plurality of different tool orientations within the tolerance interval, selecting one of the different tool orientations as the tool orientation for the target point based on the determined movements of the robot and with regard to minimizing cycle time, and generating a robot program based on the selected orientation of the tool at the target point.