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Spot Welding

The EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... was originally designed for exactly this application - multi robot spot welding. The EngineThe engine (or Resolver Engine) refers to the core algorithm that is running in Resolver that takes a study and a query; generates collision free motion paths, interlocks, and task allocations; and pr... will generate robot motion paths and interlocks that are highly optimized for cycle time. The following are considered in motion path cycle time calculations:

  • Motion paths of nearby robots
  • Generated interlocks between robots
    • If interlocks result in increased cycle time, the engine may find alternate robot motions that avoid interlocks
  • Robot dynamics
    • The paths are generated with consideration of how quickly each individual joint can move to the goal rather than shortest cartesian space. As a result, joint movements are always preferred. The paths generated are often faster than what a human would program because it is difficult for humans to visualize joint space motions.
  • Task durationTime it takes to complete a process step such as a weld, image capture, or part to attach. The duration is used to accurately generate optimized motion paths. at weld
    • The time it takes to perform the weld can affect the timing of multi-robot interactions. Therefore, accurate simulation can be critical. The exporter will attempt to pull this information from the PS project. It can also be adjusted in the cloud UI by the user if desired. In addition, a calibration step was added to more accurately gather the weld time on export.

In addition, one can optionally “Optimize Tool” for Rx, Rz, or Ry which will allow the engine to determine if rotating the weld gun around the tool's specified axis will result in better cycle time.

Known Limitations​

  • Air welding has support with some workarounds.
  • Cable dresspacks are supported if collision sets are properly defined.