Mobile Robot Collaborative Control Using a Virtual Rigid Body
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Solution Overview
Problem
Conventional methods for transferring and reorienting large equipment in manufacturing environments lack flexibility and safety, and collaborative operations of dual/multiple mobile robots suffer from performance inconsistencies leading to potential task failure due to variations in control performance.
Innovation Solution
A collaborative control method for mobile robots, where the first robot calculates motion instruction data for a virtual geometric center based on sensor data from itself and the second robot, synchronizing the motion of both robots using a common clock signal and communication modules (Zigbee and WIFI) to ensure real-time synchronization and closed-loop control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If collaborative operation with dual/multiple mobile robots is implemented, then productivity and intelligence in manufacturing are improved, but control performance variations cause additional stress and external forces leading to task failure
Solution Approach 1:
The patent implements real-time feedback mechanisms where each robot continuously monitors its own motion state and the motion states of other robots in the collaborative group. This feedback is used to dynamically adjust control parameters and compensate for performance variations, ensuring stable collaborative operation and preventing task failure due to control inconsistencies.
Solution Approach 2:
The patent dynamically adjusts control parameters based on real-time performance monitoring. When control performance variations are detected among robots, the system modifies control parameters such as motion speed, acceleration, and force distribution to compensate for individual robot differences, thereby maintaining reliable collaborative operation.
2Manufacturing precision
If real-time synchronized control is implemented among multiple robots, then collaborative control performance is improved, but system complexity and data synchronization requirements increase
Solution Approach 1:
The patent divides the complex collaborative control system into modular components: individual robot control modules, communication modules, and a central coordination module. Each robot maintains its own control module while sharing data through standardized communication protocols, reducing overall system complexity while achieving precise synchronized control.
Solution Approach 2:
The patent implements a universal communication protocol and data structure that works across all robots in the collaborative system. This multi-functional framework allows the same control architecture to manage different robot types and configurations, simplifying the control system while maintaining high precision collaborative control.
Data Source
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AI summary
A mobile robot, and a collaborative control method and architecture therefor, which are used for realizing dual/multi-robot collaborative transportation of goods. The method comprises: using robots and goods as a rigid body, and determining a virtual geometric center of the rigid body (S1); on the basis of transportation task data and sensor data of the robots, calculating motion instruction data of the virtual geometric center of the rigid body (S2); on the basis of the current motion instruction data of the virtual geometric center, acquiring current motion instruction data which respectively corresponds to the robots (S3); and sending the motion instruction data of the robots to the corresponding robots by means of real-time communication, such that the robots perform collaborative motion on the basis of the respective motion instruction data (S5). The collaborative control method for robots can improve the collaborative control effect and performance of mobile robots during a collaborative operation.