Collaborative Robot Retreat Control for Safe Multi-Robot Separation
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Solution Overview
Problem
Collaborative robots face challenges in ensuring safety when sharing workspaces with humans, particularly in complying with ISO 10218-1 standards and effectively handling collisions and retreat functions.
Innovation Solution
A collaborative robot system equipped with external force sensors, a collision detector, an operation determinator, and a retreat controller that switches operation modes and performs coordinated retreat operations to ensure safety, including mirrored or cooperative retreats based on the nature of the collision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If collaborative robots are equipped with collision detection and retreat functions to ensure safety, then operator safety is improved, but system complexity increases
Solution Approach 1:
The control device is divided into multiple functional modules: collision detection unit that monitors external forces, operation determination unit that decides robot responses, and retreat control unit that executes separation movements. This segmentation allows each module to handle specific safety tasks independently, improving overall safety while keeping individual module complexity manageable
Solution Approach 2:
The system performs preliminary collision detection by continuously monitoring external forces applied to the robot arm before actual contact occurs. When a collision is detected, the retreat function is activated in advance to move the robot arm away from the operator, preventing harmful effects before they can occur
2Reliability
If the robot performs retreat operation when collision is detected, then operator safety is improved, but work continuity deteriorates
Solution Approach 1:
The robot operates in periodic cycles of autonomous operation and standby mode. During autonomous operation, the robot performs tasks efficiently. When collision is detected, it transitions to standby mode for retreat operation, then can resume autonomous operation, creating a periodic pattern that balances safety interventions with continuous productivity
Solution Approach 2:
The system continuously monitors external forces applied to the robot arm and uses this feedback to determine when retreat operations are necessary. The operation determination unit processes collision detection signals and triggers appropriate responses, allowing the system to maintain normal operation during feedback monitoring while intervening only when safety requires it
3Reliability
If the robot switches from autonomous operation mode to standby mode upon collision detection, then operator safety is improved, but operational efficiency deteriorates
Solution Approach 1:
The robot control system dynamically switches between autonomous operation mode and standby mode based on real-time collision detection. During normal operation, the robot operates autonomously for high efficiency. Upon detecting external forces indicating collision, it dynamically transitions to standby mode to execute safety protocols, then can return to autonomous mode when safe, creating a dynamic response that optimizes both safety and efficiency
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances safety by allowing operators to safely escape from collaborative robots by maintaining a safe distance and preventing workpiece drops, even in complex operational scenarios.
Implementation Method 1
a plurality of robots 102A and 102B equipped with external force sensors 112a and 112b
Data Source
AI summary
A collaborative robot system according to the present invention includes a retreat controller including circuitry that causes multiple robots to perform a retreat operation, and the retreat controller, during a standby mode, when an external force is applied to one robot, causes the robot to retreat and also causes another robot adjacent to the retreated robot to perform a separation operation in a direction opposite to a direction of a movement of the retreated robot.