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Glossary

Active Runs​

Resolver runs that are actively running in your company. You can click on a specific one to jump to that Run’s page for more information.

Agent​

Virtual service that loads a Study in the Engine and generates motion paths, interlocks, and/or robot task allocation and ordering based on a single user specified query. Multiple Agents can be used at the same time for parallel processing of queries.

Avoid Other Robots' Home Positions​

Ensures that each robot's motions do not intersect with the start and end targets (home positions) of other robots. However, if no viable path exists, results may include rule violations or collisions. Resolver will continue searching for conflict-free paths, but results will still be generated. To minimize issues, ensure that home positions are sufficiently outside the robots' working area.

Calibrate Robot Dynamics​

Setting in Export to RTR dialog, if selected, will attempt to automatically calibrate dynamics of the robots for use in the RTR engine. Using whatever controller and motion planner selected in Process Simulate, the exporter will move the robot through a series of targets and monitor the dynamics. These values will then be embedded in the project export. Additionally, the move time of the weld gun at each weld location will be calibrated through simulation in PS. This weld time (task time) is embedded into the project export.

Configuration​

The X, Y, Z position and Roll, Pitch, Yaw orientation of a robot’s end effector

Configuration Settings​

Settings, per target, to allow Resolver to optimize the robot configuration at that target. Resolver may be able to find a better path solution by allowing TCP and/or robot pose changes at individual target locations. Users can specify an axis, relative to the robot's (TCP), to optimize the orientation around. This feature is particularly useful for spot welding applications to improve cycle time performance. See Keep Configuration, Optimize Rx, Optimize Ry, Optimize Rz.

Connector​

Software plugins, developed by RTR, that enables the export of projects from 3rd party simulation tools such as Process Simulate and Visual Components for use with Resolver. The Connector also enables the import of optimized robot paths and interlocks back into the simulation tool after the path planning is complete by Resolver.

Convergence Time Threshold​

End Condition setting. If the Improvement Threshold is not met for this amount of time, the optimization will automatically end.

Copy Existing OLP Commands​

PS Connector Import dialog option. If selected, the Copy existing OLP commands option will set the import process to look up the original locations and copy any OLP Commands that previously existed. The original locations will be found using the External ID of the location, which is copied into the location name in the export process. If the original location is not found, the copy process will be skipped.

Elapsed Time Threshold​

End Condition setting. The maximum amount of time the optimization will run before automatically ending.

Enable Smoothing​

End Condition setting. The maximum amount of time the optimization will run before automatically ending.

Engine​

The 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 provides results.

Estimated Cycle Time​

Total duration of operations for the study as estimated by the Engine. This cycle time is not validated by the robot’s controller with tools such as RCS.

Exporter​

The Resolver Connectors contain both export and import functionality. The Exporter generates a Study file composed of CAD data from the scene as well as Robot, Operation, and Target information. The exported Study can then be uploaded to Resolver.

Importer​

The Resolver Connectors contain both export and import functionality. The Importer translates the Resolver Results of operations, paths, and interlocks into the specific third-party Simulation tool.

Improvement Threshold​

End Condition setting. The minimum improvement in cycle time required to be considered making progress.

Keep Configuration​

Configuration Setting where the target and robot configuration will remain fixed to the configuration and pose as it was in the simulation that the program was exported from. Resolver will generate motion paths to and from the target using the specified robot configuration

MOP Motion Planner​

MOP is the default Process Simulate motion planning algorithm for robot control.

My Projects​

A toggle in Resolver that enables a user to hide all the projects that other users in the same tenant have created. When enabled, only projects created by the logged in user will display.

Operation​

An operation is a collection of targets and/or other operations.

Optimization (deprecated):​

see Run

Optimize Rx​

Configuration Setting where Resolver will adjust the target orientation around the Rx​ axis of the TCP.

Optimize Ry​

Configuration Setting where Resolver will adjust the target orientation around the Ry​ axis of the TCP.

Optimize Rz​

Configuration Setting where Resolver will adjust the target orientation around the Rz​ axis of the TCP.

Optimize Target Order​

The engine will optimize the sequence by allowing the reordering of targets, except for the first and last targets, which remain fixed as the required start and end points. All other targets in between may be rearranged if the engine determines that an alternative order improves the cycle time.

Optimized Path Planning​

Optimized Path Planning refers to the process of determining the most efficient sequence of targets and routes for the robots to move through in order to achieve a goal. This involves considering various factors such as 3D geometry, robot kinematics, obstacles, target locations, and other constraints to find a path that minimizes or maximizes specific criteria.

Output​

A file generated from a study and part of a result (typically a results.yaml file). Studies that resulted in error or system failures may not generate any outputs.

Example results.yaml​

This study generated results.

Output Folder​

Path to the .zip file that will be generated on export

Operations to Export​

Operations that will be exported to the .zip. Add the operations by selecting from the operation tree and clicking the Add button in the dialog. Only 1 operation per robot is allowed.

Positioner​

A component that moves a component that is used as a target for other tools. A piston, turntable, or robot used to place a part for processing.

Process Point​

A target where a process takes place for as long as the task duration is defined. For example, a weld point, an inspection point, or a pick point. Different from a Via Point.

Provisioning resources​

Preparing Environment step where the necessary Resolver resources for path planning, interlock generation, and optimization are configured for the run.

Project​

A project contains one or more studies.

PS Connector​

Resolver Connector for Siemens Tecnomatix Process Simulate. See Connector

Query​

Request sent to the Engine which specifies parameters at the target, operation, and robot levels for a specific Run. Multiple queries can be run on multiple agents at the same time for parallel processing.

RCS​

Robot Control System - Modules found in some simulation software that enable the creation of motion simulations that are highly accurate to the motions, accuracy and speed in which the robots will perform in the real world.

Realtime Robotics (RTR)​

Realtime Robotics is the leader in automatic, collision-free motion planning for industrial robots. Its innovative technology accelerates designs of single and multi-robot workcells by automatically generating cycle-time optimized motions, interlocks, and robot task allocation. The company’s solutions expand the potential of automation, empowering multiple robots to work closely together in unstructured and collaborative workspaces, reacting to dynamic obstacles the instant changes are perceived. To learn more, visit rtr.ai

Resolver​

Resolver is a product built by Realtime Robotics that enables users of simulation software (like Process Simulate or Visual Components) to automatically generate the most optimized paths and sequences for robots in a workcell.

Result​

The output of a Resolver Study when the path planning is complete. Users can download the result for import back into the simulation software, rate the results for RTR feedback, add a description, or review the cycle time progress.

RTR (Realtime Robotics) Admin​

An admin user from Realtime Robotics with “super-admin” permissions. Please contact your RTR representative.

RTU​

Robot Transfer Units (RTUs), are industrial machines used to automatically move materials between workstations. RTUs are often not limited to just material transfer but are also used to move robotic arms or other equipment along a linear track, enhancing the robot's reach and flexibility in various applications. Also sometimes referred to as a “linear rail.”

Run​

An instance of a study and query computed by the Engine and generates motion paths, interlocks, and/or robot task allocation and ordering. Multiple runs can be executed in parallel by using multiple agents.

Sequential Interlock​

Robots exchange release signals once they reach a certain point in the sequence. Interlocks are not areas that robots can reserve in any order but fixed positions where specific robots must wait until other robots have reached a designated position before proceeding.

  • Advantage: This type of interlock ensures that the optimal sequence is followed.
  • Disadvantage: Robots cannot operate independently, as the interlocks depend on the sequence of other robots.

Spatial Interlock​

A spatial (area) interlock is a volume in space where the the paths of at least 2 robots overlap. Before a robot enters an interlock zone, it must reserve it, ensuring that only one robot is in the interlock area at a time. There is no priority given to either robot - the first robot to reach a vacant zone will be allowed to occupy it (this behavior is different from sequential interlocks).

  • Advantage: Robots can operate independently and outside the optimal sequence.
  • Disadvantage: The optimzal sequence is not guaranteed.

Start​

Sends a query to Resolver to start a run on the specific study selected.

Study​

A collection of one or more robots, targets, and obstacles used for path planning and interlock generation. Studies are exported from a Simulation tool using a Connector and uploaded to Resolver.

Target​

A point in space, defined by its X, Y, Z, Rx, Ry, Rz coordinate. A target is a desired position and orientation that a robot end-effector should be able to move to. It includes process points and via points. Process Simulate: Location, Visual Components:

Task Duration​

Time 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.

Tenant​

A company/organization that is using Resolver, all tenant information is kept separate from other tenants. A user email address can only belong to one tenant.

Tenant Admin​

A user with special permissions within a Tenant.

User​

A person that is able to upload, run, and download. Determined by email address, a unique identity that is a member of a tenant and can upload studies, start and stop runs, and download results.

VC Connector​

Connector for Visual Components. See Connector

Via Point​

A target For example, a weld point, an inspection point, or a pick point. Different from a Process Point.

YAML​

YAML (or .yaml file) is a file with human-readable data serialization language. It is commonly used for configuration files and in applications where data is being stored or transmitted. For Resolver, .yaml files are used to export relevant information from the simulation in order to generate results. Resolver will generate a .yaml file that can be used to import results back into the simulation.