Mobile Robot Manipulator Control for Misregistration Limits
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing mobile robots with manipulators on movable platforms face inefficiencies and extended takt times due to misregistration issues, which current misregistration prevention mechanisms fail to adequately address, leading to potential work failures.
Innovation Solution
A control method that measures misregistration index values through test operations and sets limit values for the manipulator's operation to prevent these values from exceeding predetermined thresholds, thereby reducing excessive misregistration at the manipulator's distal end.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a misregistration prevention mechanism is actuated during work, then misregistration of the movable platform is prevented, but takt time is extended and efficiency is degraded
Solution Approach 1:
The patent performs misregistration prevention actions before actual work begins. A test operation is executed to measure the misregistration index value, and limit values are determined in advance. During subsequent work operations, the manipulator operates within these pre-determined limits to prevent misregistration, eliminating the need to interrupt work for prevention actions.
Solution Approach 2:
The system uses the manipulator's own test operations to generate misregistration data, which then serves to establish operational limits for preventing misregistration during actual work. The system self-calibrates by using its own performance characteristics to determine safe operational parameters.
2Productivity
If the manipulator operates at high speed, then productivity is improved, but misregistration of the distal end portion increases causing work failure
Solution Approach 1:
The patent establishes dynamic operational limits for the manipulator based on measured misregistration characteristics. Instead of using fixed conservative limits, the system determines speed and acceleration limits that adapt to the specific robot system's characteristics, allowing high-speed operation while maintaining accuracy by staying within dynamically determined safe boundaries.
Solution Approach 2:
The system uses feedback from test operations to determine operational limits. The misregistration index value measured during testing provides feedback about the system's characteristics, which is then used to set appropriate speed and acceleration limits for work operations, enabling high-speed operation without excessive misregistration.
Data Source
AI summary
A control method includes (a) measuring a misregistration index value relating to misregistration of a distal end portion of a manipulator by controlling the manipulator to perform a test operation, and (b) setting a limit value for an operation of the manipulator to prevent the misregistration index value from exceeding a predetermined threshold value.