Adaptive Robot Controller Emergency Stop Logic
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot controllers face challenges in mitigating damage and facilitating restoration when bringing a robot to an emergency stop, as they often apply excessive load and struggle with intricate path positions, and do not account for abnormalities that do not require immediate stopping.
Innovation Solution
A robot controller with a detecting part, a stopping condition judging part, and a stopping process executing part that allows the robot to continue moving until specific stopping conditions are met, such as reaching a designated position or completing a program, thereby reducing the risk of damage and facilitating easier restoration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot is immediately stopped when an abnormality is detected, then the response time to abnormality is reduced, but an excess load is applied to the robot causing damage
Solution Approach 1:
The patent applies dynamics by making the stopping behavior adaptive rather than fixed. The robot controller dynamically adjusts the stopping response based on the type of abnormality detected. For abnormalities that do not require immediate stopping, the robot continues operating without stopping, thereby avoiding excess load. For abnormalities requiring immediate stopping, the robot stops promptly to ensure safety. This dynamic adjustment resolves the contradiction between rapid response and load reduction.
Solution Approach 2:
The patent changes the parameter of stopping timing based on the abnormality type. Instead of using a fixed stopping rule, the controller modifies the stopping parameter (whether to stop immediately or continue operating) according to the detected abnormality characteristics. This parameter change allows the system to avoid unnecessary stopping for minor abnormalities, preventing excess load while maintaining safety for critical abnormalities.
2Reliability
If the robot is stopped at a position on an intricate path, then the emergency stop response is achieved, but restoration of the robot becomes difficult
Solution Approach 1:
The patent applies preliminary action by providing advance notice to the operator before the robot stops. When an abnormality is detected, the controller notifies the operator in advance, allowing the operator to prepare for the stop and plan the restoration process. This preliminary notification makes it easier to restore the robot after stopping at intricate path positions, as the operator can anticipate the stop and prepare appropriate restoration actions.
3Productivity
If the robot continues operating after detecting an abnormality that does not require immediate stopping, then productivity is maintained, but the robot may be damaged if the abnormality worsens
Solution Approach 1:
The patent applies feedback by continuously monitoring the robot's operating state and abnormality conditions. When an abnormality is detected, the controller provides feedback to the operator through notification, allowing the operator to monitor the situation and take appropriate actions. This feedback mechanism enables the robot to continue operating for minor abnormalities while maintaining safety through operator awareness and potential intervention if the abnormality worsens.
Data Source
AI summary
A robot controller having a function for mitigating damage to a robot when the robot is brought to an emergency stop, and for facilitating restoration of the robot from the emergency stop. The robot controller has a controlling part which controls a motion of a robot based on a predetermined robot program; a first detecting part which detects a predetermined abnormality which does not require the robot to be immediately stopped; a stopping condition judging part which judges as to whether or not a predetermined stopping condition is satisfied when the first detecting part detects the abnormality; and a stopping process executing part which executes a stopping process of the robot when the stopping condition is satisfied, and does not execute the stopping process when the stopping condition is not satisfied.