Collaborative Robot Collision Sensitivity Using Joint Torque Thresholds

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Solution Overview

Problem

Collaborative robots face challenges in distinguishing between external forces caused by collisions and dynamic characteristics, leading to malfunctions and requiring time-consuming adjustments of collision sensitivity by professionals to suit varying work environments.

Innovation Solution

A method to automatically set collision sensitivity by actuating the robot, obtaining torque-related data, calculating a collision threshold value based on this data, and selecting a collision sensitivity level, which can be displayed and applied to each joint of the robot.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the collaborative robot uses a fixed collision threshold value, then the robot can operate safely in some environments, but it causes malfunctions in environments where dynamic characteristics produce forces similar to collisions

Engineering Contradiction:

Improvecollision detection accuracyVSAvoidadaptability to different work environments

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The patent applies dynamics by making the collision threshold adaptive rather than fixed. The system automatically adjusts the collision threshold based on real-time monitoring of torque data and identification of dynamic characteristics specific to each work environment. This allows the robot to dynamically adapt its collision detection sensitivity to match the actual operational conditions, preventing false malfunctions while maintaining safety.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent changes the parameter of collision threshold from a static value to a dynamically adjusted value. By continuously monitoring torque data and identifying patterns specific to each work environment, the system modifies the collision threshold parameter to accurately distinguish between normal dynamic forces and actual collisions, thereby improving both reliability and adaptability.

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If a professional engineer manually adjusts the collision sensitivity for each work environment, then the robot can respond accurately to collisions, but it takes a considerable amount of time and requires professional expertise

Engineering Contradiction:

Improvecollision sensitivity accuracyVSAvoidtime for sensitivity adjustment

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The patent implements self-service by enabling the collaborative robot to automatically adjust its own collision sensitivity without requiring professional engineer intervention. The system autonomously monitors torque data, identifies work environment characteristics, and calculates appropriate collision thresholds, thereby eliminating time-consuming manual adjustments while maintaining high measurement precision.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent uses feedback mechanisms by continuously monitoring torque data during robot operation and using this information to automatically adjust collision sensitivity. The system processes real-time data, compares it against learned patterns, and modifies collision thresholds accordingly, creating a closed-loop system that maintains accurate collision detection without manual intervention.

Inventive Principle:

Principle #23Feedback

3Productivity

If the collaborative robot operates at higher speeds to improve productivity, then output increases, but it becomes more difficult to distinguish between collision forces and dynamic characteristic forces

Engineering Contradiction:

Improverobot operating speedVSAvoiddifficulty of distinguishing collision from dynamic forces

Core Design Contradiction:

ProductivityVSDifficulty of detecting and measuring

Solution Approach 1:

The patent applies preliminary action by having the system learn and store the dynamic characteristics of each work environment before actual collision detection begins. By pre-establishing a baseline understanding of normal operational forces at various speeds, the system can more easily distinguish actual collisions from dynamic effects during high-speed operation, maintaining detection accuracy despite increased productivity.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12134196B2Method for automatically setting collision sensitivity of collaborative robot

Publication Date: 2024.11.05 NEUROMEKA

AI summary

A method for automatically setting the collision sensitivity of a collaborative robot, according to one embodiment of the present invention, comprises the steps of: operating a collaborative robot; acquiring torque-related data associated with torque that acts on each joint of the collaborative robot while the collaborative robot operates; and calculating a collision threshold value on the basis of the acquired torque-related data.