Predictive Speed Capping for Spline Interpolation
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Solution Overview
Problem
Existing methods for controlling industrial robots, particularly in 'manually reduced speed' mode, fail to consistently maintain speed limits during path movements using spline interpolation, leading to potential safety violations and reduced operability.
Innovation Solution
A method that simulates the halting movement of a manipulator at the beginning of each cycle to predict and prevent exceeding predetermined monitoring limits by adjusting the nominal speed to zero, ensuring timely intervention and precise compliance with speed limits, even during complex path movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If spline interpolation is used for path movement to achieve precise and accurate robot travel, then manufacturing precision is improved, but the robot may exceed monitoring limits and safety is worsened
Solution Approach 1:
The control device performs a simulation of the halting movement before the actual movement begins. By predicting the future state of the manipulator and checking whether monitoring limits would be exceeded, the system takes preliminary action to prevent safety violations while maintaining precise path following through spline interpolation
2Reliability
If monitoring limits are strictly enforced to ensure safety, then reliability is improved, but robot operability is worsened due to frequent stoppage
Solution Approach 1:
By simulating the halting movement in advance, the system identifies potential limit violations before they occur. This allows for proactive speed adjustment that prevents unnecessary stoppages while still ensuring safety, thereby improving operability without compromising reliability
3Reliability
If speed is reduced to prevent monitoring limit violations, then safety is improved, but productivity is worsened
Solution Approach 1:
The control device dynamically adjusts the nominal speed based on real-time simulation results. Instead of using a fixed reduced speed, the system optimizes speed profiles cycle-by-cycle to maintain maximum safe operation, thereby preserving productivity while ensuring safety compliance
Solution Approach 2:
By predicting future states through simulation, the system can plan speed adjustments in advance rather than reacting to limit violations. This allows for smooth, optimized speed profiles that maintain productivity while preventing safety violations
Data Source
AI summary
A method for controlling a manipulator, with the method being particularly suitable for the respecting of predetermined monitoring limits. The method operates by initiating a halting movement or a speed capping based on an identified actual override trend, and is thus suitable, in particular, for path movements by means of spline interpolation.