Machine Axis Position Control with Adaptive Model Collision Avoidance

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Solution Overview

Problem

Existing methods for simulating and checking part programs for machines with position-controlled axes often fail to reliably prevent collisions, as the machine model used for simulation may not accurately represent the actual machine configuration, leading to potential collisions during operation.

Innovation Solution

A method where a control device receives initial measured values to parameterize a machine model accurately, checks for collisions before executing a part program, and continuously updates parameters during operation to ensure the model reflects the actual machine configuration, thereby reducing the likelihood of collisions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a parameterized model of the machine is used for collision checking, then the accuracy of collision detection is improved, but the complexity of model parameterization increases

Engineering Contradiction:

Improvecollision detection accuracyVSAvoidmodel parameterization complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The control device automatically determines model parameters by processing measured values from the actual machine configuration, eliminating the need for manual parameterization by operators. The system self-adjusts the model parameters based on measured data from sensors and measurement devices, making the complex parameterization process transparent and automated.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The model parameters are dynamically adjusted based on measured values from the actual machine. The control device receives measured values characteristic of the actual machine configuration and uses these to determine and update the parameters of the parameterized model, ensuring the model accurately reflects the real machine state.

Inventive Principle:

Principle #35Parameter changes

2Adaptability or versatility

If manual parameterization of the machine model is performed by an operator, then the model can be adapted to the machine, but time is lost and errors may occur

Engineering Contradiction:

Improvemodel adaptation to machineVSAvoidparameterization time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The manual operator intervention is replaced by an automated control device that processes measured values and determines model parameters automatically. The system substitutes human operation with automated computational processing, eliminating manual time consumption and potential human errors in parameterization.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The control device receives measured values from the actual machine configuration and uses this feedback to automatically determine and update model parameters. This closed-loop feedback mechanism ensures the model continuously adapts to the actual machine without manual intervention, saving time and improving accuracy.

Inventive Principle:

Principle #23Feedback

3Ease of operation

If the machine model does not accurately represent the actual machine configuration, then the model is simpler to use, but collisions may not be detected

Engineering Contradiction:

Improvemodel usabilityVSAvoidcollision detection reliability

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The control device performs preliminary determination of model parameters by processing measured values from the actual machine configuration before collision checking. This preliminary action ensures the model is accurately parameterized based on real machine data, making both the model creation and collision detection processes reliable and efficient.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS10126729B2Position control of machine axes with collision avoidance and adaption of a machine model to a real machine

Publication Date: 2018.11.13 SIEMENS AG

AI summary

A control device of a machine with a plurality of position-controlled axes controls the position-controlled axes in accordance with a part program while processing a system program. Through the control of the position-controlled axes, an end effector is moved along a track defined by the part program via at least one intermediate element relative to a base body of the machine under position control. While processing the system program, the control device checks before control of the position-controlled axes with a parameterizable model of the machine, whether the end effector can move along the track without collisions. Before checking the part program, the control device receives initial measured values characteristic of an actual configuration of the machine, determines parameters of the model based on the initial measured values and parameterizes the model in accordance with the determined parameters.