Robot Arm Emergency Stop Control With Variable Deceleration
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Solution Overview
Problem
Existing robot systems face challenges in safely stopping a robot arm during an emergency stop, as decelerating at a large rate increases load on the arm while decelerating at a small rate extends the stopping distance, compromising safety.
Innovation Solution
A robot system that includes an acquisition unit to gather stop parameter information, a determination unit to decide on an emergency stop, and a drive control unit to execute the stop operation based on these parameters, allowing for balanced load reduction and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot arm is decelerated at a relatively large deceleration rate during emergency stop, then the stopping time is reduced and safety is improved, but the load applied to each portion of the robot arm becomes large
Solution Approach 1:
The system dynamically adjusts the deceleration rate during emergency stop based on real-time robot arm state and environment. The control device switches between multiple deceleration rates (first, second, and third deceleration rates) depending on the situation, allowing the robot arm to decelerate quickly when safe and more gently when load reduction is critical, thus resolving the contradiction between stopping speed and load protection
Solution Approach 2:
The system changes the deceleration parameter dynamically during the emergency stop process. By selecting different deceleration rates (first deceleration rate for normal conditions, second for reduced load scenarios, third for maximum safety) based on robot arm state and environmental factors, the system optimizes both stopping performance and load protection
2Force
If the robot arm is decelerated at a relatively small deceleration rate during emergency stop, then the load on the robot arm is reduced, but the braking distance becomes long and safety is compromised
Solution Approach 1:
The control device implements dynamic adjustment of deceleration rate during emergency stop, switching between multiple predefined deceleration rates based on real-time conditions. This allows the system to extend braking distance when using lower deceleration rates only when necessary, while maintaining the capability for rapid stopping when safety is paramount
Solution Approach 2:
The system performs preliminary assessment of robot arm state and environmental conditions before determining the emergency stop deceleration rate. By evaluating factors such as robot arm position, speed, and surrounding obstacles in advance, the system pre-selects the appropriate deceleration rate to balance load protection and safety requirements
3Device complexity
If a fixed deceleration rate is used for emergency stop, then the control system is simple, but it cannot simultaneously optimize both stopping distance and load reduction
Solution Approach 1:
The emergency stop control is segmented into multiple deceleration rate modes (first, second, and third deceleration rates) that can be selectively applied. Each segment corresponds to different operational scenarios, allowing the system to maintain relative simplicity while achieving optimized performance across various emergency stop situations
Solution Approach 2:
The control system transitions from a fixed deceleration rate to a dynamic multi-rate system that adapts to different emergency scenarios. By implementing conditional logic that selects appropriate deceleration rates based on robot arm state and environment, the system maintains manageable complexity while significantly improving emergency stop performance
Data Source
AI summary
A robot system includes an acquisition unit configured to acquire stop parameter information regarding a stop parameter corresponding to a condition regarding a stop of a predetermined portion on a robot arm when the robot arm is subjected to an emergency stop, a determination unit configured to determine whether to subject the robot arm to the emergency stop during an operation of the robot arm, and a drive control unit configured to execute a stop operation based on the stop parameter information when the determination unit determines to subject the robot arm to the emergency stop.