Manipulator Process Control for Backward Switching Point Actions
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Solution Overview
Problem
Existing manipulator processes do not automatically execute switching point routines during backward movements, leading to issues such as a clamp not being opened to allow a manipulator-guided tool to pass through, which is a limitation in managing events like disruptions or errors during the process.
Innovation Solution
The method allows for specifying and executing actions based on event-initiated backward and return movements by expanding the functionality of switching point routines to include conditions for these movements, using system variables to determine the type of movement and execute appropriate actions, such as opening or closing clamps, during these events.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If switching point routines are executed only during forward movement along the manipulator path, then the control logic remains simple and straightforward, but actions such as opening clamps or switching welding current are not automatically executed during backward movements, leading to process interruptions and manual intervention requirements
Solution Approach 1:
The control system dynamically adapts the execution of switching point routines based on the movement direction. The system detects whether the manipulator is moving forward or backward and automatically adjusts the routine execution accordingly, enabling automatic actions during backward movements while maintaining simple control logic through conditional execution based on movement state
Solution Approach 2:
The control system continuously monitors the movement direction of the manipulator and uses this feedback information to determine whether to execute switching point routines. By implementing feedback on the movement state (forward/backward), the system automatically activates the appropriate actions without requiring complex predefined control logic for each scenario
2Reliability
If the manipulator reverses a short distance after detecting a process malfunction, then the manipulator can recover from errors and continue the process, but the switching point routines are not executed during this reverse movement, requiring additional manual intervention
Solution Approach 1:
The control system automatically executes switching point routines during backward movements without requiring manual intervention. The system serves itself by detecting the backward movement state and automatically activating the necessary actions (such as opening clamps or switching welding current), enabling the manipulator to recover from malfunctions and continue the process autonomously
3Adaptability or versatility
If switching point routines are extended to execute during backward movements, then all necessary actions are automatically performed regardless of movement direction, but the control logic becomes more complex and requires additional programming
Solution Approach 1:
The switching point routines are designed to dynamically execute based on movement direction detection. The system automatically determines whether to execute the routine based on the current movement state (forward or backward), providing comprehensive coverage without requiring separate programming for each movement direction. This dynamic execution approach maintains programming simplicity while extending functionality
Data Source
Figure 1
AI summary
The method involves exhibiting given oriented manipulator track for manipulator arrangement in manipulator process. A preset action is designated or performed differently in relation to event initiated reverse movement of manipulator arrangement, which is opposite to direction of oriented manipulator track, or return movement which is in same direction as oriented manipulator track. An independent claim is included for an arrangement for setting and controlling manipulator process.