Multi-Robot Trajectory Control for Autonomous Collision Avoidance
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Solution Overview
Problem
Conventional control systems for robots require users to create robot-specific programs for region declaration, which is burdensome and inefficient, especially when considering collision avoidance between multiple robots.
Innovation Solution
A control system where multiple robots with multiple joints are connected to the same network, enabling a second robot to acquire control data, determine potential collisions with a first robot, and correct its own trajectory to avoid collisions, thereby reducing user burden.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If users create robot-specific programs for region declaration to avoid collision, then collision avoidance is achieved, but user burden increases
Solution Approach 1:
The robot autonomously performs collision avoidance by acquiring trajectory information of other robots via network, determining potential collisions, and correcting its own trajectory without requiring user-created region declaration programs. This self-service mechanism eliminates the burden of manual programming while ensuring reliable collision avoidance.
Solution Approach 2:
The robot continuously monitors the trajectories of other robots through network communication, uses this feedback information to determine potential collisions, and dynamically adjusts its trajectory accordingly. This closed-loop feedback system replaces static user-programmed region declarations with dynamic autonomous collision avoidance.
2Reliability
If robot-specific region declaration programs are created for each robot, then interlocking is appropriately performed, but programming complexity increases
Solution Approach 1:
The collision avoidance function is implemented as a universal capability across all robots through standardized network communication protocols. Each robot can acquire trajectory information of others and perform autonomous collision avoidance without requiring robot-specific region declaration programs, simplifying programming while maintaining reliable interlocking.
Solution Approach 2:
The network serves as an intermediary that enables robots to share trajectory information without requiring complex point-to-point communication setups. This intermediary mechanism simplifies the programming interface while ensuring reliable interlocking through automated trajectory coordination.
3Reliability
If conventional collision avoidance methods are used, then safety is ensured, but system size increases
Solution Approach 1:
Each robot independently performs collision avoidance calculations and trajectory corrections using its own control unit, eliminating the need for additional external safety systems or infrastructure. This self-service approach ensures safety while minimizing the physical footprint of the production line.
Data Source
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AI summary
A control system is achieved which reduces the burden on the user by rendering unnecessary updates of a program for avoiding robot collision. A second robot (32) in this control system (1) has a trajectory calculation unit (23S) which calculates a trajectory of the second robot (32) so as to avoid a first robot (31) if it is determined that the first robot (31) and the second robot (32) will collide.