7. Other features
- 1. Calibration
- RobotWorks has a function for correcting the model space (RobotWorks work space) and the real space (the space where the actual machine operates). It can be corrected with each corresponding 3 or 1 point. The model space coordinate system can also use the user coordinate system to match the real space.
- 2. Robot position optimization
- Robot position optimization is the optimization of the energy (electric power) used by the robot. Therefore, the cycle time should also be optimal. RobotWorks allows you to select and move one of the best position candidates.
a.Calibration
When using RobotWorkw in the field, it is necessary to correct (calibrate) the model space created by RobotWorks and the actual space in the actual machine processing (there is a discrepancy between the model space and the actual space). RobotWorks has a function to correct this. There are two methods.
Correct at the corresponding three points. (Fig. 36)
Correct the position (x, y, z) and posture (Rx, Ry, Rz) of the corresponding point. (Fig. 37) In the case of "(1) Correcting at 3 points" above, it is possible to realize the user coordinate system in the real space in the model space and correct it instead of adjusting the model space to the SolidWorks coordinate system. (See Figure 38)
Figure 36 3-point correction
Figure 37 1-point correction
Figure 38 Creating a user coordinate system
b.Robot position optimization
Select a position candidate from the energy of each axis
It is a function to determine two positions (paths have already been created) so that the robot position and the work position are optimal.
- The optimization here assumes the following.
- ①Minimization of energy (electric power)
- ②Minimization of cycle time (from the viewpoint of energy minimization)
Figure-39 Before Optimal
Figure-40 Optimized move
Robot position after movement