Manipulator Control Device Dynamic Safe Positioning
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Solution Overview
Problem
Existing methods for controlling manipulators, such as robots, when an error criterion is met often result in the robot being shut down in an unfavorable position, requiring manual repositioning, which is inefficient and can cause further damage or safety issues.
Innovation Solution
A method where the manipulator is automatically moved to a free position based on the detected exceeding position, allowing for flexible reaction to error criteria without pre-defined safe paths, and enabling the robot to resume operation from a collision-free or non-violating state.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the manipulator is shut down using traditional stop methods (Stop 0, Stop 1, or Stop 2) when an error criterion is met, then the manipulator is stopped to prevent further damage, but the manipulator remains in an unfavorable position requiring manual repositioning
Solution Approach 1:
The manipulator automatically repositions itself to a safe position after detecting an error criterion, eliminating the need for manual intervention. The control device autonomously calculates the safe position based on the current position and manipulator parameters, then executes the repositioning maneuver independently.
Solution Approach 2:
The system pre-calculates and stores safe positions and repositioning paths in advance based on manipulator parameters and workspace constraints. When an error occurs, the pre-computed safe position is immediately activated, enabling rapid automatic repositioning without requiring real-time computation or manual input.
2Extent of automation
If safe paths and safe points are assigned in advance as proposed in EP 1 801 678 A2, then the manipulator can be automatically transferred to safe points, but the system requires pre-defined safe paths and assigned safe points to specified desired path points
Solution Approach 1:
The safe position is determined dynamically based on the manipulator's current position and its own parameters rather than following pre-assigned safe points on a predetermined path. The control device calculates the safe position in real-time considering the actual manipulator configuration and workspace boundaries, making the system adaptable to different error scenarios without requiring extensive pre-programming.
Solution Approach 2:
The system changes from using fixed, pre-defined safe points and paths to calculating safe positions based on manipulator parameters and current state. The safe position is derived from the manipulator's own geometric and kinematic parameters, allowing the system to adapt to different manipulator configurations and error conditions without requiring separate pre-programmed paths for each scenario.
3Productivity
If the manipulator is moved manually into the work area or out of the protected area to resume work, then the manipulator can resume operation, but this manual intervention is inefficient and time-consuming
Solution Approach 1:
The manipulator autonomously performs the repositioning operation to a safe position and can automatically resume work without human intervention. The control device monitors the error criterion, determines the safe position, executes the repositioning maneuver, and enables work resumption entirely automatically, eliminating the time loss associated with manual repositioning and operator intervention.
Data Source
Figure 1~2
AI summary
The method involves monitoring a failure criterion, and automatically processing a manipulator i.e. robot (1), in a free position, when the criterion is met. An exceeding position (U) is detected, if the criterion is met. The free position is determined based on the exceeding position. The free position is offset with respect to the exceeding position. The criterion involves an exceeding of a specified maximum value by deviation between target position and actual position (q), deviation of time derivative between the target and actual positions, by driving energy and/ or by driving force. Independent claims are also included for the following: (1) a device for controlling a manipulator (2) a computer program for executing a method for controlling a manipulator (3) a computer program product with a program code and a computer program for executing a method for controlling a manipulator.