Collaborative Robot Motion Control for Individual Worker Comfort
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Solution Overview
Problem
Current collaborative robot systems do not adequately consider individual human comfort levels, leading to reduced worker safety, increased anxiety, and potential health issues due to rigid movement parameters that do not account for human preferences.
Innovation Solution
Introducing intentional operational tolerance in robot movement by allowing adjustable comfort-related parameter sets that can modify movement speed, distance, and path geometry based on individual human preferences, enabling the robot controller to adapt movements to enhance comfort levels while maintaining safety and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot moves quickly and precisely along a fully defined movement path, then productivity and manufacturing precision are improved, but the human worker experiences reduced comfort and increased anxiety
Solution Approach 1:
The robot controller dynamically adjusts movement parameters (speed, acceleration, path geometry) based on real-time detection of human worker presence and individual comfort preferences. The system transitions from static, pre-programmed movement paths to dynamic adaptation, allowing the robot to optimize productivity while accommodating human comfort levels through continuous parameter modification.
Solution Approach 2:
The system implements multiple selectable parameter sets that define different combinations of movement speed, acceleration, and path geometry parameters. These parameter sets can be selected based on the detected human worker's comfort preferences, allowing the robot to change its movement characteristics without altering the fundamental task execution, thereby resolving the contradiction between speed and comfort.
2Manufacturing precision
If the robot follows a fully defined movement path with no deviation, then manufacturing precision is improved, but the human worker perceives the robot as more threatening
Solution Approach 1:
The system applies different path following strategies in different spatial zones. In areas where human workers are present, the robot introduces controlled deviations and variations in movement patterns to reduce perceived threat. In areas where precision is critical and no humans are present, the robot maintains strict adherence to the defined path, thereby achieving both precision and reduced psychological impact.
Solution Approach 2:
The movement path is transformed from a rigid, fully defined trajectory to a dynamic path that can adapt locally based on human presence detection. The controller modifies path geometry parameters in real-time, allowing the robot to maintain overall task accuracy while introducing local variations that make the movement appear less threatening to human workers.
3Productivity
If the robot uses high acceleration and speed, then productivity is improved, but the human worker experiences increased anxiety and potential safety concerns
Solution Approach 1:
The robot controller dynamically adjusts acceleration and speed parameters based on detected human presence and individual comfort profiles. When humans are detected in the workspace, the system automatically reduces acceleration rates and maximum speeds while maintaining task completion. When no humans are present, the robot operates at full performance capabilities, thereby resolving the contradiction between productivity and safety perception.
Solution Approach 2:
The system implements feedback loops that continuously monitor human worker presence, position, and inferred comfort levels. This feedback information is used by the controller to adjust movement parameters in real-time, creating a closed-loop system that adapts robot behavior to human needs while maintaining overall productivity through automated parameter optimization.
Data Source
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Figure 5~6b
AI summary
The invention is related to a robot system (10) for collaborative robot applications, comprising a movable robot arm (12, 14) and a controller (16), wherein the controller (16) is provided to control the movement of the distal end of the robot arm (12, 14) along a movement path (22) according to at least a sequence of coordinate data and respective commands of a robot program and wherein the controller (16) is provided to determine exact movement speed and course of the movement path (22) between consecutive coordinates (24) according to a set of parameters. At least two alternatively selectable sets of parameters are provided which both are related to a respective individual comfort level (30) of a respective collaborative human worker (26). The invention is also related to a method for controlling a robot system (10).