Manipulator Control via Movable Coordinate Systems
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Solution Overview
Problem
In multi-tasking industrial systems with multiple manipulators, manual movement of one manipulator requires time-consuming manual corrections to align other manipulators, leading to inefficiencies in coordinated movements.
Innovation Solution
A control system that defines a first coordinate system and a movable second coordinate system attached to each manipulator, allowing synchronized movement of all manipulators by communicating movement commands through a handheld control tool or man-machine interface, maintaining relative positions within the first coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual movement of one manipulator is performed, then the manipulator can be repositioned, but time-consuming manual correction of mutual positions of manipulators is required
Solution Approach 1:
The patent merges the control of multiple manipulators by attaching each to a coordinate system that is movably defined in a common first coordinate system. When one manipulator moves, the coordinate system transformation automatically coordinates the movements of all manipulators, combining their control into a unified system rather than requiring separate manual adjustment of each manipulator's position.
Solution Approach 2:
The patent introduces coordinate systems as an intermediary layer between the manipulators and the control system. The first coordinate system serves as a common reference frame, while second coordinate systems attached to each manipulator enable automatic position coordination. This intermediary coordinate transformation mechanism eliminates the need for direct manual correction of mutual positions.
2Productivity
If multiple manipulators move synchronously, then coordinated tasks can be executed, but complex path planning and coordination are required
Solution Approach 1:
The patent replaces complex mechanical coordination and path planning mechanisms with a mathematical coordinate system transformation approach. Instead of using complex control algorithms to calculate synchronous movements, the system uses coordinate system attachments and transformations to automatically coordinate manipulator positions, substituting mathematical computation for mechanical coordination complexity.
3Reliability
If tool center points are fixed relative to work piece, then collisions are prevented, but movement flexibility is reduced
Solution Approach 1:
The patent makes the coordinate systems dynamic rather than fixed. The second coordinate systems are movably defined in the first coordinate system, allowing them to move together with the manipulators while maintaining fixed relative positions. This dynamic coordinate transformation enables the tool center points to remain reliably positioned relative to the work piece while the entire system can adapt its position and orientation for different tasks.
Data Source
AI summary
A system of manipulators including several manipulators, namely robots and/or external axes, such as workstations or transport tracks, whereby each manipulator is controlled by a control system via communication means and is programmed to carry out a plurality of tasks. The system of manipulators is movable in a first coordinate system. A second coordinate system is defined for each manipulator, so that one part of the manipulator, e.g. its tool center point, stands still in the second coordinate system, which is movable relative to the first coordinate system.