Conveyor Pick Path Control Using Kinematic Limit Modeling
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Solution Overview
Problem
Conventional path planning for kinematics in handling systems to pick up objects from conveyor systems is complex and inefficient, requiring manual adjustment to avoid dynamic limits and belt dynamics, leading to potential overloading of drives and disruption of processes.
Innovation Solution
A method using a kinetic model to determine path movements by specifying maximum drive forces and torques, incorporating mass, inertia, and inertia tensor values, and extrapolating belt dynamics to setpoints, ensuring compliance with dynamic limits and energy efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual path planning is used to avoid dynamic limits, then drive overload is prevented, but programming complexity and time increase
Solution Approach 1:
The system performs self-analysis by automatically calculating dynamic limit values based on its own kinetic model and drive specifications, eliminating the need for manual programming adjustments to avoid drive overload
Solution Approach 2:
The system dynamically adjusts path parameters (speed, acceleration) based on calculated limit values derived from the kinetic model, transforming static manual programming into adaptive automated control
2Manufacturing precision
If manual path planning adjusts for belt dynamics, then picking accuracy is improved, but programming effort increases
Solution Approach 1:
The kinetic model pre-calculates dynamic limit values and belt compensation parameters before execution, allowing the system to automatically adjust for belt dynamics without requiring manual programming of compensation algorithms
3Productivity
If automated path determination is implemented, then productivity increases, but energy consumption increases
Solution Approach 1:
The system optimizes energy consumption by dynamically adjusting motion parameters (speed, acceleration profiles) based on the kinetic model and calculated limit values, ensuring efficient use of drive energy while maintaining high productivity
Solution Approach 2:
The system employs dynamic path optimization that adapts motion parameters in real-time based on current system state and constraints, allowing flexible adjustment between speed and energy consumption
Data Source
AI summary
A control device, computer program and method for determining a path of kinematics for picking up an object from a conveyor system includes providing a kinetic model depending on mass, moment of inertia or inertia tensor of the kinematics, specifying maximum drive forces and/or drive torques of drives, determining limit values for state variables of the path, as a function of the maximum drive forces and/or drive torques based on the kinetic model, the limit values being determined for a plurality of points of a working space, extrapolating a position of a virtual point on the conveyor system based on values of the position and speed and/or acceleration of the virtual point at respective sampling times, and determining setpoints for the path as a function of the determined limit values and the extrapolated position, where the movement path is modelled as a function of the position of the virtual point.