Collaborative Robot Control for Irregular State Recovery
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot systems face challenges in maintaining cooperation states and eliminating irregular states during collaborative operations, particularly when external forces or interactions with peripheral objects occur, which can disrupt the normal operation of multiple robots working together.
Innovation Solution
A robot system with a controller that detects irregular states and executes counteractive operations to maintain cooperation by controlling multiple robots to collaboratively adjust their positions and postures, using reaction force sensors and proximity sensors to manage interactions with peripheral objects and ensure continued collaboration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robots execute collaborative operations, then productivity is improved, but irregular states occur that disrupt normal operation
Solution Approach 1:
The controller continuously monitors the operational state of each robot and receives information about irregular states from other robots. When an irregular state is detected in any robot within the collaborative group, the controller automatically initiates counteractive operations by adjusting the motion commands of affected robots to eliminate the irregular state and restore normal collaborative operation.
2Reliability
If counteractive operations are executed to eliminate irregular states, then operation stability is improved, but cooperation state may be disrupted
Solution Approach 1:
The controller dynamically adjusts the operational parameters of robots executing counteractive operations based on real-time feedback. By modifying motion commands and coordination parameters, the system enables robots to eliminate irregular states while maintaining their collaborative relationship and continuing cooperative tasks after the irregular state is resolved.
3Object-affected harmful factors
If robots adjust positions to prevent contact with peripheral objects, then safety is improved, but operational flexibility is reduced
Solution Approach 1:
The controller proactively adjusts the motion commands of robots before they reach positions where contact with peripheral objects might occur. By predicting potential collision risks based on the current operational state and robot trajectories, the system preemptively modifies robot positions and velocities to prevent contact while maintaining operational efficiency and flexibility.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A robot system includes: a first robot; a second robot; an operation control unit configured to control the first and second robots to execute a collaborative operation on a work piece; and an irregular control unit configured to control, in response to a detection of a collaborative irregular state of the first robot during the collaborative operation, the first and second robots to execute a collaborative counteractive operation to eliminate the collaborative irregular state.