Dynamic Braking Point Calculation for Industrial Manipulators
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Solution Overview
Problem
Existing methods for conditional stopping of manipulators in industrial applications require selecting a braking point that is often too far from the stopping point, leading to extended cycle times and potential deviations from the intended path, necessitating additional geometrical path points and inefficient braking parameters.
Innovation Solution
A method and manipulator assembly that calculate a braking point dynamically based on the manipulator's speed, allowing for optimized braking parameters and flexible adjustment of braking actions in real-time, ensuring the manipulator stops precisely at the intended point without requiring additional taught path points, by continuously updating the braking point location and monitoring the travel condition variable.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If a fixed braking point is selected close to the stopping point, then the cycle time is reduced, but the manipulator cannot be stopped completely by the stopping point under varying speeds
Solution Approach 1:
The braking point is transformed from a fixed, pre-programmed location to a dynamically calculated position based on the manipulator's actual speed and deceleration characteristics. The control device continuously determines the optimal braking point by considering current speed parameters, ensuring reliable stopping while minimizing cycle time.
Solution Approach 2:
The system changes the parameter of braking point location from a static value to a variable that depends on speed. By calculating the braking point as a function of current speed and deceleration capability, the system adapts to varying operational conditions while maintaining precise stopping accuracy.
2Reliability
If a fixed braking point is selected far from the stopping point to ensure complete braking, then the manipulator stops reliably, but the cycle time is extended
Solution Approach 1:
The braking point position is dynamically adjusted based on real-time speed measurements rather than using a conservative fixed distance. This allows the system to minimize the distance to the stopping point while ensuring complete braking is achieved, thereby reducing cycle time without sacrificing reliability.
3Reliability
If program-controlled override reduction is used for conditional stopping, then the manipulator can be braked, but additional braking points must be taught and the path deviates from the original trajectory
Solution Approach 1:
The braking point calculation is extracted from the path programming process and performed dynamically by the control device during execution. This eliminates the need to pre-teach additional braking points and removes the complexity of path modification, while maintaining reliable conditional stopping capability.
Solution Approach 2:
The system uses feedback from the manipulator's actual speed and position to dynamically calculate the braking point. This closed-loop approach ensures the braking point is optimally positioned without requiring pre-programming, and the manipulator remains on the original path trajectory.
Data Source
AI summary
A method for the conditional stopping of at least one manipulator and a manipulator assembly. The manipulator travels along a path which has a stopping point. In order to be able to stop the manipulator at the stopping point, a braking point on the path is calculated as a function of a speed of the manipulator. If the status of a travel condition variable necessitates braking of the manipulator in the event of exceeding the braking point, the manipulator is braked.