Mobile Articulated Robot Control for Accurate Work While Moving
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Solution Overview
Problem
Conventional dual-arm work robots cannot correct their work position while operating, as they rely on their arms for position correction and do not account for scenarios where the robot needs to work while moving.
Innovation Solution
A self-traveling articulated robot with a carriage and robotic arms that can operate cooperatively, allowing the robotic arm to work while the carriage moves, equipped with a control system that includes servomotors, power transmission devices, and a control unit for precise control of the carriage and arms in both two-dimensional and three-dimensional spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot uses its arms to correct work position, then the position correction is achieved, but the robot cannot work while moving and the work position cannot be corrected during operation
Solution Approach 1:
The robot system is segmented into two independent functional modules: the carriage for position movement and the robotic arms for work execution. The carriage can move independently to correct work position, while the arms perform work operations. This segmentation allows position correction without interrupting work operations, resolving the contradiction between position correction capability and continuous work capability.
Solution Approach 2:
The carriage is designed with dynamic movement capability, equipped with driving wheels and servomotors that enable it to adjust its position dynamically during work operations. The controller can independently control the carriage to move to the desired work position while the robotic arms continue their work, allowing the system to adapt to changing work requirements without stopping.
2Manufacturing precision
If the robot is stationary on a workbench, then precise work can be performed, but the working range is limited and cannot adapt to moving work requirements
Solution Approach 1:
The system separates the functions of position adjustment and work execution into distinct components: the movable carriage handles position changes while the robotic arms maintain work precision. This allows the robot to extend its working range by moving the carriage to different positions while keeping the arms stable for precise work operations.
Solution Approach 2:
The carriage provides dynamic position adjustment capability with controlled movement through servomotors and driving wheels. The controller manages the carriage movement to reach various work positions, enabling the robot to adapt to different work requirements and expand its effective working range while maintaining manufacturing precision during actual work operations.
3Adaptability or versatility
If the robot moves during work, then the working range expands, but the position control accuracy decreases
Solution Approach 1:
The system divides position control into two levels: coarse position adjustment through carriage movement and fine position control through robotic arm adjustment. The carriage handles large-range position changes with acceptable accuracy, while the robotic arms provide fine-tuning for precise work operations, thus maintaining manufacturing precision even when the working range is expanded through carriage movement.
Solution Approach 2:
The controller dynamically coordinates between carriage movement and arm positioning to maintain overall position accuracy. When the carriage moves to expand working range, the system dynamically adjusts the arm positions to compensate and maintain the required manufacturing precision for work operations, ensuring accurate control throughout the extended working range.
Data Source
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AI summary
A self-traveling articulated robot for working in a production factory is provided, which includes a carriage having at least two operation shafts driven by servomotors, respectively, and self-travelable in a two-dimensional plane, a robotic arm supported by the carriage and having at least one operation shaft driven by a servomotor and constituting a joint, an end effector provided to a tip portion of the robotic arm, and a control unit provided in the carriage and for controlling the operation shaft of the robotic arm and the operation shafts of the carriage to operate in cooperation with each other so that a control point defined in one of the robotic arm and the end effector reaches a target position.