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Let’s say that the TCP is bent or broken somehow and that there exists a similar
tool that could replace the broken one. Because the replacement tool is not going to
have the exact same geometry as the original tool a calibration of the new tool has to
be done to make sure that the TCP is accurate. If the TCP points and movements from
the original calibration were saved, the installer could press some button and the robot
could automatically orient to each point and then the installer, if the point is off, could
modify the position instead of jogging the robot to each and every position. This would
be a huge time saver but would also lead to a more accurate calibration of the TCP.
Another benefit of saving the TCP points is that the system could compare the old
tool against the new one. The user could get information about how accurate the new
tool is compared to the old one; the user could also get information about which of the
points in the new tool that causes the biggest discrepancy compared to the old tool, etc.
Problems encountered on an installation
As mentioned before if the robot program is pre created in RobotStudio all the robot
targets and work object points must be test run and if needed modified ”on site” to insure
correct robot positioning. When the installation technician test runs the program
they repeatedly press a button on the FlexPendant which makes the robot step through
every robot target in the program. Once the robot reaches the target and if that target
is off it can be modified. This actually causes big problems for the technician; since
the installer does not know where the next robot target is positioned on the fixture,
pressing the button on the FlexPendant, could make the robot run into the fixture or
into a nearby object and thereby crash the tool, or the fixture.
There are some ideas that could make the setup of a robot cell safer. One thing that
could be done is to have some sort of a ”pre modify position” where the robot stops
before reaching the target point. When the robot stops in its ”pre modify position”
point the technician could go to the robot and ensure that no obstacles are in the way.
Something that might work better is to have pictures of every point the robot is going
to, this way the technician would know where the robot is heading and could take precautions
according to the information. Even though this approach would be helpful for
the technician it would mean that pictures on every point on the fixture must be taken.
It is however not reasonable to assume that the programmer is going to copy and paste
every point from RobotStudio, which would take a lot of time and would be very tedious.
Another solution that could solve this problem without burdening the programmer
would be, when the installation technician presses the button for making the robot
go to the next robot target there could be some counter that counts down to the target
in mm or cm. The distance could be shown in x, y and z. This information would be
more than enough and it would be especially important when robot targets are near a
fixture so that the operator knows how near the fixture the robot is actually going.
Page 1, 2,3
Tech Materials (Free)
Calibration Techniques Set Up A Robot Cell With Work Objects
Calibration problems Things That Needs To Be Done Within Calibration
Direct Manipulation versus Interface Agents Extra Eyes or Extra Ears
Intelligent Interface Agents What is an Intelligent Interface Agent?
Interface Agents What can agents do for the user?
Robot System The Robot System
EPSON Micro PowerDrive EPSON PowerDrive Servo System ensures Maximum Robot Performance
HRP 2W Humanoid Can now serve tea and wash the cup
Robot Behaviors Exploring the T-Maze: Evolving Learning-Like Robot Behaviors using CTRNNs
Humanoid Robotics A Biochemical Subsystem for a Humanoid Robot
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