Parallel Robot Scheduling With Collision-Aware Velocity Curves
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Solution Overview
Problem
Existing automated manufacturing processes face challenges in coordinating the parallel operation of multiple robotic devices within a workcell to prevent collisions while maximizing their combined operating rate, as current methods often require synchronization points that lead to inefficiencies and potential collisions.
Innovation Solution
A method that converts ordered sequences of operations into time-based sequences, determining anchor points and velocity curves to synchronize robotic devices along a global timeline, modifying operations to prevent collisions by adjusting velocity curves and inserting hold positions, thereby allowing parallel execution without collisions and optimizing operating rates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robotic devices operate in parallel within a workcell, then productivity increases, but collision risk increases
Solution Approach 1:
The patent applies dynamics by making the motion parameters (velocity, position) of robotic devices dynamically adjustable during operation. The system determines velocity curves for each robotic device that maximize combined operating rate while ensuring collision-free operation. The control system continuously monitors positions and adjusts velocity profiles in real-time, transforming static safety constraints into dynamic control parameters that adapt to the actual state of all robotic devices in the workcell.
Solution Approach 2:
The patent changes operational parameters (velocity, position, timing) of robotic devices to resolve the contradiction. By determining optimized velocity curves and anchor points, the system transforms the operating parameters of each device to achieve maximum productivity while maintaining collision prevention. The parameter changes include adjusting start times, durations, and velocity profiles of individual robotic device operations based on their interactions with other devices in the parallel operation.
2Reliability
If synchronization points are used to coordinate robotic devices, then collision prevention is improved, but operating efficiency deteriorates
Solution Approach 1:
The patent extracts the essential synchronization requirements from traditional sync point approaches and implements only the necessary coordination. Instead of using fixed synchronization points that force all robotic devices to stop and wait, the system identifies specific anchor points where coordination is truly needed and applies velocity curve adjustments only in those regions. This extraction approach removes unnecessary synchronization overhead while maintaining collision prevention where actually required.
Solution Approach 2:
The patent replaces static synchronization points with dynamic velocity curve control. Instead of forcing robotic devices to stop at predetermined sync points, the system uses dynamic velocity profiles that naturally coordinate device movements. The velocity curves are calculated to ensure devices reach their target positions at appropriate times without requiring artificial stopping points, thereby maintaining continuous operation and improving productivity while still preventing collisions.
3Productivity
If velocity curves are optimized to maximize operating rate, then productivity increases, but collision risk increases
Solution Approach 1:
The patent implements feedback by using the determined velocity curves and anchor points to control robotic devices while monitoring their actual positions and timings. The system incorporates feedback from the operational status of all robotic devices to verify that the optimized velocity curves are achieving both maximum productivity and collision prevention. This feedback mechanism allows the system to adjust operations based on actual performance, ensuring that velocity optimization does not compromise safety.
Solution Approach 2:
The patent applies preliminary action by pre-determining velocity curves and anchor points before robotic devices begin operation. The control system calculates the optimized velocity profiles and identifies critical coordination points in advance, allowing robotic devices to operate at maximum speed throughout their paths without last-minute deceleration or unplanned stops. This preliminary planning ensures both high productivity and collision prevention by resolving all coordination issues before operation begins.
Data Source
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AI summary
Example systems and methods may allow for parallel operation of robotic devices within a workcell, such as industrial robots controlled to manufacture an output product. One example method includes receiving ordered sequences of operations for a plurality of corresponding robotic devices, determining time-based sequences of operations for each of the robotic devices, where a time-based sequence of operations indicates positions within the workcell at corresponding timesteps of a global timeline, determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time- based sequences of operations within the workcell, modifying the time -based sequences of operations in order to prevent the one or more potential collisions, and providing instructions for parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.