Dual-Arm Robot Speed Control for Pinch Hazard Prevention
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Solution Overview
Problem
In dual-arm robots working cooperatively with humans in the same workspace, there is a trade-off between maintaining worker safety and operational efficiency, as existing technologies struggle to prevent collisions between robotic arms and humans while allowing for high-speed operation when safe.
Innovation Solution
A controlling device that calculates the distance between the tip ends of dual robotic arms and monitors operating speeds, inhibiting speeds when the distance is below a predetermined value to prevent collisions and includes modules for detecting external forces to stop operations upon collision detection, adjusting collision sensitivity based on the gap between the arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the operating speed of the robotic arms is increased to improve workability, then productivity is improved, but the safety of the worker may not be secured
Solution Approach 1:
The controlling device dynamically adjusts the operating speed of the robotic arms based on real-time distance measurements. When the distance between the robotic arm tip and worker exceeds a predetermined threshold, the system permits high-speed operation to maximize productivity. When the distance falls below the threshold, the system automatically reduces speed to prevent collision, thus dynamically balancing productivity and safety requirements
Solution Approach 2:
The system implements continuous feedback monitoring of the distance between the robotic arm tip and the worker using distance measurement devices. This feedback loop enables the controlling device to real-time adjust operating parameters, maintaining high speed when safe and reducing speed when the worker approaches, thereby resolving the contradiction between maintaining high productivity and ensuring worker safety
2Productivity
If the distance between tip ends of the two arms is reduced to improve work efficiency, then workability is improved, but the worker therearound may be caught therebetween
Solution Approach 1:
The controlling device dynamically monitors the distance between the tip ends of the first and second robotic arms and adjusts the operating speed of each arm based on this measurement. When the inter-arm distance exceeds a predetermined threshold, high-speed operation is permitted to maintain work efficiency. When the distance falls below the threshold, the system automatically reduces speed to prevent the worker from being caught between the arms, thus dynamically balancing work efficiency and safety
Solution Approach 2:
The system implements continuous feedback monitoring of the distance between the tip ends of both robotic arms using distance measurement devices. This feedback enables the controlling device to real-time adjust operating parameters, maintaining high speed when the arms are sufficiently separated and reducing speed when they approach each other, thereby resolving the contradiction between maintaining high work efficiency and preventing pinch hazards to the worker
Data Source
AI summary
A robot controlling device controls operation of a robot having a first robotic arm and a second robotic arm. The robot controlling device includes a distance calculating module configured to calculate a distance between a tip end of the first robotic arm and a tip end of the second robotic arm, and a distance monitoring module configured to monitor whether the distance calculated by the distance calculating module is equal to or less than a predetermined value.