Parallel Link Robot Collision And Dislocation Detection Control
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Solution Overview
Problem
In parallel link robots, determining operation abnormalities such as collisions and dislocations is challenging due to the complex relationship between the torques applied by multiple motors, which complicates the diagnosis using state information from individual motors.
Innovation Solution
A robot control apparatus with a drive controller and abnormality determination circuitry that analyzes state data from multiple motors to accurately determine collisions and dislocations in the link mechanisms, employing methods like estimating contact external forces and comparing them with threshold values to quickly and accurately detect abnormalities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If state information of individual motors is used for abnormality detection, then the detection method is simple, but the detection accuracy is insufficient due to complex torque relationships between multiple motors
Solution Approach 1:
The patent segments the abnormality detection task by separately analyzing state information from each motor (torque, speed, position) and then integrating these analyses. The determination unit processes each motor's data independently through specific calculation formulas before combining results to determine overall abnormality, thereby improving detection accuracy while maintaining manageable system complexity.
Solution Approach 2:
The patent introduces a determination unit as an intermediary component that receives state information from multiple motors and applies specific determination methods (first through fourth determination methods) to analyze torque relationships, speed deviations, and position errors. This intermediary processes the complex multi-motor data through structured algorithms, enabling accurate collision and dislocation detection without requiring direct complex inter-motor coordination.
2Productivity
If multiple motors are used to drive link mechanisms cooperatively, then the robot achieves better performance, but the torque relationships become complicated making abnormality determination difficult
Solution Approach 1:
The patent implements feedback-based abnormality detection by continuously monitoring the state information (torque, speed, position) of each motor and comparing actual values against expected values calculated from control commands. The determination unit uses feedback loops to detect deviations indicating collisions or dislocations, allowing accurate abnormality detection in multi-motor cooperative systems while maintaining high productivity.
Solution Approach 2:
The patent transforms the complex torque relationship problem into simpler parameter comparisons by introducing specific determination parameters: torque deviation thresholds, speed deviation thresholds, and position error thresholds. By changing the analysis parameters from direct torque relationship analysis to threshold-based deviation detection, the system achieves accurate abnormality detection in multi-motor systems without being hindered by complex torque interactions.
3Reliability
If abnormality detection is implemented in parallel link robots, then operation safety is improved, but the control system becomes more complex
Solution Approach 1:
The patent creates a universal determination unit that handles multiple types of abnormalities (collisions and dislocations) using a unified framework. The same determination unit processes both collision detection (through torque and speed analysis) and dislocation detection (through position error analysis), providing multi-functional abnormality detection without requiring separate complex systems for each function, thereby improving reliability while controlling system complexity.
Data Source
AI summary
A robot control apparatus includes a drive controller configured to control a plurality of motors which are configured to drive a plurality of link mechanisms of a parallel link robot, respectively, and abnormality determination circuitry configured to determine based on state data of the plurality of motors whether at least one of collision of the parallel link robot and dislocation in the link mechanisms occurs.