Guide-Rail Robot Motion Control With Adaptive Acceleration Curves
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Solution Overview
Problem
Guide-rail robots experience load deformation and reduced operational stability due to tilting and swinging during acceleration or speed stabilization, and require large braking distances during high-speed motion.
Innovation Solution
A system and method for guide-rail robot motion control using an accelerometer and gyroscope to determine real-time load rates, adjust original acceleration curves, and generate target acceleration curves to control the robot's motion smoothly and reduce load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the guide-rail robot accelerates or decelerates at a constant rate, then the motion control is simple, but the robot tilts and swings resulting in large load deformation
Solution Approach 1:
The patent applies dynamics by making the acceleration curve adjustable and adaptive rather than fixed. The motion controller dynamically adjusts the acceleration curve based on real-time load information from sensors, transforming the rigid constant-rate acceleration into a flexible, condition-responsive acceleration profile that reduces tilting and swinging while maintaining operational simplicity
Solution Approach 2:
The patent implements feedback by using sensors to detect real-time load conditions and feeding this information back to the motion controller. The controller then adjusts the acceleration curve based on this feedback, creating a closed-loop system that reduces load deformation and improves operational stability while maintaining simple control architecture
2Force
If the acceleration rate is reduced to relieve load on unloading structure, then the load is reduced, but the braking distance increases
Solution Approach 1:
The patent applies preliminary action by pre-adjusting the acceleration curve to optimize the balance between load reduction and braking distance. Rather than reactively reducing acceleration when load becomes excessive, the system proactively shapes the acceleration profile to maintain lower loads while preserving adequate braking capability, preventing the need for excessive braking distances
Solution Approach 2:
The patent implements parameter changes by dynamically modifying acceleration curve parameters based on load conditions. The motion controller adjusts acceleration rates, deceleration rates, and transition timings to optimize the balance between reducing load on the unloading structure and maintaining acceptable braking distances, transforming fixed parameters into adaptive variables
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
The system effectively reduces load deformation and improves operational stability by smoothing the robot's motion and reducing the braking distance, thereby extending the service life and enhancing stability during speed changes.
Implementation Method 1
an accelerometer... configured to acquire a real-time acceleration of a guide-rail robot
Implementation Method 2
a gyroscope... configured to acquire a real-time inclination angle of the guide-rail robot
Data Source
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AI summary
A system and method for guide-rail robot motion control, a computer apparatus, and a storage medium are disclosed. The system includes an accelerometer (102), a gyroscope (104), and a motion controller (106). The motion controller (106) is configured to: determine a real-time load rate corresponding to the guide-rail robot based on a real-time acceleration received from the accelerometer (102) and a real-time inclination angle received from the gyroscope (104); obtain a maximum acceleration in a target acceleration curve based on a ratio of the real-time acceleration to the real-time load rate; adjust an original acceleration curve based on the maximum acceleration, to obtain the target acceleration curve corresponding to the original acceleration curve; and control the guide-rail robot to move based on the target acceleration curve. By use of the system, an excessively large load can be prevented during the motion of the guide-rail robot.