Collaborative Robot Collision Control With Joint Torque Redirection
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Solution Overview
Problem
Collaborative robots face issues with jamming and potential harm to humans due to collisions, especially when moving at high velocities, which can lead to severe damage and secondary injuries.
Innovation Solution
A method for controlling collaborative robots that includes a collision detection unit, a control unit, and a collision countermeasure unit to sense collisions and apply a collision compensation value to change the force direction applied to joints, switching operation modes from position to torque and back to position to minimize collision time and prevent jamming.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the collaborative robot moves at high velocity to improve productivity, then the productivity increases, but the collision damage becomes severe and secondary injuries may occur
Solution Approach 1:
The control unit switches from position mode to torque mode before the collision actually occurs, based on predictive collision detection. This preliminary mode switching prepares the robot to absorb collision forces safely, reducing damage while maintaining high-speed operation capabilities
Solution Approach 2:
The system dynamically changes operational parameters by switching between position mode and torque mode based on collision risk. This parameter change allows the robot to operate at high velocities normally while automatically adjusting to a safer operational state when collision is detected
2Ease of operation
If the collaborative robot applies force to overcome obstacles during operation, then the robot can perform tasks effectively, but jamming may occur causing secondary injury
Solution Approach 1:
The robot dynamically switches between position mode and torque mode during operation. When obstacles are detected, the system transitions to torque mode which allows the robot to adaptively adjust applied forces, preventing excessive force that would cause jamming while maintaining task execution capability
Solution Approach 2:
The collision detection unit continuously monitors robot operation and provides feedback to the control unit. This real-time feedback enables the system to detect potential jamming conditions and switch modes accordingly, preventing harmful forces while maintaining effective task performance
3Reliability
If the collaborative robot increases collision response time to safely handle collisions, then safety improves, but the collision duration increases causing severe damage
Solution Approach 1:
The system performs preliminary mode switching to torque mode upon detecting collision risk, before the actual collision impact occurs. This allows the robot to be pre-prepared to absorb forces safely, improving safety without extending the actual collision duration
Solution Approach 2:
Instead of extending collision time to improve safety, the system inverts the approach by using predictive detection and pre-switching to torque mode. This allows the robot to safely handle collisions through proactive preparation rather than reactive extension of collision duration
Data Source
AI summary
As a preferred embodiment of the present invention, a device for controlling a collaborative robot includes a collision detection unit configured to sense a collision of the collaborative robot; a control unit configured to control an operation mode of the collaborative robot when the collision detection unit senses the collision; and a collision countermeasure unit configured to apply, when the collision detection unit senses the collision, a collision compensation value to each of a plurality of joints in the collaborative robot so as to change a proceeding direction of a force applied to the each of the plurality of joints.