Robot Arm Control for C-Axis Interference Avoidance
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Solution Overview
Problem
In robots with multiple rotatable arms, interference occurs between the robot arm and attached control devices during movement, particularly when the C arm rotates, leading to operational inefficiencies and potential collisions.
Innovation Solution
A robot control device that limits the rotation range of the C arm through a processor-executed command, allowing for different rotation ranges in operations including and excluding a first state, thereby preventing interference between the object and the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the C arm is allowed to rotate freely, then the robot's operational flexibility and workspace are improved, but interference between the attached object and the robot arm occurs
Solution Approach 1:
The patent applies dynamics by making the rotation range limitation conditional rather than fixed. The control unit dynamically adjusts the C arm's rotation range based on the current operational state - allowing full rotation when safe and limiting rotation when interference risk exists. This resolves the contradiction by making the system adaptable to different operational contexts.
Solution Approach 2:
The patent changes the parameter of rotation range from a fixed value to a variable parameter controlled by the control unit. By monitoring operational conditions and adjusting the rotation range parameter accordingly, the system maintains flexibility when needed while preventing interference when risks are present.
2Reliability
If the rotation range of the C arm is limited to prevent interference, then safety is improved, but operational efficiency may deteriorate
Solution Approach 1:
The control unit continuously monitors operational conditions and periodically adjusts the rotation range limits based on current state. This periodic assessment ensures safety constraints are applied only when necessary, maintaining operational efficiency during safe operations while ensuring safety when risks arise.
Solution Approach 2:
The dynamic adjustment of rotation limits based on real-time operational state allows the system to maintain high productivity during safe operations while automatically enforcing safety constraints when needed, resolving the contradiction between reliability and productivity.
Data Source
AI summary
A robot control device that controls a robot including an A arm that is rotatable about an A rotation axis, a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis, a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm, the robot control device comprising: a processor, wherein the processor is configured to suppress interference between an object and the B arm by limiting a rotation range of the C arm in a case where the object is attached to the C arm.