Multi-Robot Counteractive Control for Irregular State Recovery
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Solution Overview
Problem
Existing robot systems face challenges in maintaining collaborative operations when an irregular state is detected, as they struggle to effectively counteract irregular forces or contacts, potentially leading to disruptions or damage during shared tasks like conveying work pieces.
Innovation Solution
A robot system comprising multiple robots and a controller that can execute collaborative counteractive operations, where one robot can request another to adjust its actions to eliminate irregular states, such as irregular forces or contacts, by rolling back to a previous state or adjusting posture, while maintaining cooperation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robot executes a counteractive operation individually when an irregular state is detected, then the irregular state can be eliminated, but the collaborative operation is disrupted and cooperation is broken
Solution Approach 1:
The patent merges the counteractive operation with the collaborative operation by having multiple robots execute counteractive operations simultaneously in coordination. When an irregular state is detected in one robot, the controller generates counteractive operation commands for that robot and communicates them to other collaborating robots, which then execute corresponding counteractive operations. This combining approach ensures the irregular state is eliminated while maintaining collaborative operation continuity.
2Reliability
If the robot system executes a counteractive operation, then the irregular state is eliminated, but the operation time is extended due to operation interruption
Solution Approach 1:
The patent applies preliminary action by having other collaborating robots prepare and execute counteractive operations simultaneously with the detected robot, rather than sequentially. The controller generates counteractive operation commands for multiple robots at once and coordinates their simultaneous execution. This parallel processing approach reduces the total time required to eliminate the irregular state compared to sequential counteractive operations.
3Ease of operation
If multiple robots execute counteractive operations simultaneously, then the collaborative operation is maintained, but the control complexity increases
Solution Approach 1:
The patent uses feedback mechanisms where the controller continuously monitors the irregular state of robots and dynamically adjusts counteractive operation commands. When an irregular state is detected, the controller generates appropriate counteractive commands, communicates them to relevant robots, and monitors the execution results. This feedback loop enables coordinated multi-robot counteractive operations while managing control complexity through systematic command generation and real-time monitoring.
Data Source
AI summary
A robot system includes: a first robot; a second robot; and circuitry configured to: control the first and second robots to execute a collaborative operation on a work piece; and control, in response to a detection of an irregular state of the first robot during the collaborative operation, the first and second robots to execute a collaborative counteractive operation to eliminate the irregular state.