Robot Arm Speed Control for Unknown End Effector Safety
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Solution Overview
Problem
Existing robot systems cannot ensure safety when an end effector without switching means is attached, as they cannot identify the type of attached end effector, leading to potential speed issues and compromised safety during operation.
Innovation Solution
A control method and system that detect the motion of a robot arm, acquire information about attachable end effectors, and calculate the speed of a speed estimation target part, reducing the operating speed of the robot arm if the calculated speed exceeds a predetermined threshold, thereby ensuring safety regardless of the attached end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses switching means to identify the type of replacement hand, then safety can be improved by recognizing which replacement hand is attached, but device complexity increases and replacement hands without switching means cannot be identified
Solution Approach 1:
The patent extracts the identification function from the replacement hand itself (removing the switching means requirement) and places it in the robot main body. The robot main body now performs the identification by detecting which replacement hand is attached through its control system, rather than requiring the replacement hand to actively provide identification signals.
Solution Approach 2:
The patent introduces the robot main body's control system as an intermediary that mediates between the replacement hand and the identification process. The control system detects the attached replacement hand type and uses this information to appropriately adjust robot operation, serving as the intermediate step that enables safety without requiring switching means in the replacement hand.
2Productivity
If the robot operates at high speed, then productivity increases, but safety deteriorates when the type of attached end effector is unknown
Solution Approach 1:
The patent applies dynamics by making the robot's operating speed adjustable rather than fixed. The control system dynamically changes the operation speed based on the detected replacement hand type and the specific work being performed. This allows the robot to operate at high speeds when appropriate (maintaining productivity) while reducing speeds when safety concerns arise (maintaining safety).
Solution Approach 2:
The patent changes the speed parameter of robot operation based on detected conditions. The control system monitors which replacement hand is attached and adjusts the operation speed parameter accordingly, selecting from multiple speed levels to match the safety requirements and capabilities of the specific replacement hand being used.
Data Source
AI summary
A control method includes an acquiring step for acquiring information concerning a plurality of end effectors and acquiring an operation program, and a driving step for driving a robot arm based on the operation program acquired in the acquiring step, wherein in the driving step, speed of a speed estimation target part is calculated, for each of the plurality of end effectors based on a detection result of the detecting section, and when it is determined that, in a result of the calculation, speed of the speed estimation target part moving at highest speed when the robot arm is driven by the operation program is equal to or higher than predetermined speed, operating speed of the robot arm is reduced.