Robot Arm Velocity Limits for Safe Teaching and Fast Execution
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Solution Overview
Problem
Existing robot systems face a trade-off between safety and efficiency, as they often reduce motion velocity to prevent collisions, leading to lower work efficiency during human approach detection, which results in suboptimal performance in both teaching and execution modes.
Innovation Solution
A control method and robot system that dynamically sets an upper limit velocity for the robot arm based on the operation mode, allowing higher velocities during execution modes for increased efficiency and lower velocities during teaching modes to prioritize safety when humans are nearby.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot reduces motion velocity when a human approaches to prevent collision, then safety is improved, but work efficiency deteriorates
Solution Approach 1:
The patent applies dynamics by making the velocity limit adjustable based on operational context. The control unit dynamically changes the upper limit velocity between a first value (higher) and a second value (lower) depending on whether the robot is in execution mode or teaching mode, allowing optimal velocity for each operational state rather than using a fixed conservative limit
Solution Approach 2:
The patent changes the velocity parameter based on operational mode. By switching between different velocity limit values (first value vs. second value) according to whether the robot is executing or being taught, the system optimizes both safety and efficiency for each operational context
2Reliability
If the robot uses a lower velocity limit during teaching mode to ensure safety, then safety is improved, but work efficiency deteriorates
Solution Approach 1:
The system dynamically adjusts velocity limits based on operational mode. During teaching mode, the control unit sets a lower velocity limit for safety, while during execution mode, it raises the velocity limit to maximize productivity, allowing each mode to operate at optimal velocity
Solution Approach 2:
The velocity parameter is changed according to operational mode. The control unit switches between a first velocity value (for execution mode) and a second velocity value (for teaching mode), optimizing the balance between safety and efficiency for each specific operational context
Data Source
AI summary
A control method for a robot system having a robot arm and executing an operation mode of the robot arm having an execution mode in which a motion program is executed and a teaching mode in which the motion program is taught, includes setting an upper limit velocity of a motion velocity of the robot arm to a first velocity when the operation mode is the execution mode, and setting the upper limit velocity to a second velocity lower than the first velocity when the operation mode is the teaching mode.