- Use Feedback.
- For a painting process: What is the speed of application, the quantity of paint to be dispensed? Should the trajectory go beyond the part to make sure that the paint covers evenly, even in the borders? If not, how far from the border should it stop?
- For machine tending: After putting the part in the machine, how many seconds should the robot wait before opening the machine again? Or should it wait for a signal?
- For a pick and place application: What Gripper stroke is required to grasp the object correctly? What robot acceleration will provide a secure grip? What is the limit friction coefficient for a part with cutting fluid on it?
- Drilling: What is the exact location of the holes to be drilled? Are they relative to a reference plane? Should the hole be drilled at a 90° angle or at some other angle?
. You will be able to:
- Improve the path’s precision
- Use less of the robot’s online time
- Simulate the path (I don’t know about you, but I so much prefer crashing a simulated robot in a CAD model than all of this in the real world).
- Program a path much more efficiently
. If you use a CAD model, as stated above, don’t ASSUME that the part’s reference frame stands exactly where your CAD model was. Of course, you might have designed a bracket that holds the object at this specific XYZ location, but every setup has some imprecisions, some slack in a joint, etc. The robot itself has some variations from one robot to another, and is more precise in some areas of its work envelope. So what should you do? Calibrate. That stands for the use of CAD models, but also for everything that uses a reference frame that is used for the path of the robot. For example, a camera’s focus point should also be calibrated: if it isn’t, don’t be surprised to get blurred pictures. It is good practice to run the calibration routine regularly (it could be every day, every month, etc. depending on your need). If a change has occurred, the path will automatically be adjusted.
- Pro tip #1: Since the path you have taught will be adjusted with calibration, make sure your path is not close to a robot limit. If you’re close to the robot reach, or close to a joint limit (e.g. 89 degrees), consider changing this point or changing the robot configuration for this point, so you’ll have more buffer for changes when the path gets adjusted.
Robitiq is offering a free book entitled, “How to Simplify a Complex Task.”
> Read more by Audrey Boucher-Genesse, robotiq, August 8, 2016