Robot Base Backup Tracking for End Effector Path Accuracy
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Solution Overview
Problem
Existing systems for robotically interacting with a physical environment face challenges in accurately positioning the end effector due to errors that increase with distance from the robot base, particularly when the first tracking system fails.
Innovation Solution
A system comprising a robot base, a robot arm with an end effector, a first tracking system for measuring the robot base position, a second tracking system for measuring the robot base movement, and a control system that determines the robot base position using signals from the first tracking system, and in case of failure, uses signals from the second tracking system to control the robot arm to move the end effector at a reduced speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a first tracking system is used to measure robot base position, then positioning accuracy is improved, but system reliability deteriorates when the tracking system fails
Solution Approach 1:
A second tracking system is implemented as a backup measurement device that remains dormant during normal operation but activates automatically when the first tracking system fails. This pre-prepared redundancy ensures continuous operation and prevents system shutdown, directly addressing the reliability concern while maintaining high positioning accuracy during normal operation.
Solution Approach 2:
A control system acts as an intermediary between the tracking systems and the robot arm actuator. It monitors the status of the first tracking system, detects failures, and seamlessly switches to using data from the second tracking system. This intermediary manages the complexity of having dual tracking systems and ensures smooth transitions without affecting robot operation continuity.
2Measurement precision
If robot base position is determined using first tracking system signals, then positioning precision is improved, but system complexity increases due to backup tracking requirements
Solution Approach 1:
The second tracking system is designed to perform the same measurement function as the first tracking system, enabling it to fully replace the primary system when needed. This multi-functionality allows a single backup device to handle both standby and active measurement roles, reducing the need for additional specialized components and simplifying the overall system architecture.
Solution Approach 2:
The control system automatically monitors the health of the first tracking system and autonomously switches to the second tracking system upon detecting a failure. This self-diagnosis and self-switching capability eliminates the need for manual intervention or complex external monitoring systems, reducing operational complexity while maintaining high positioning precision.
3Measurement precision
If end effector speed is reduced during backup tracking operation, then positioning accuracy is improved, but productivity decreases
Solution Approach 1:
The system applies speed reduction only partially - specifically during backup tracking operation when the second tracking system is active. During normal operation with the first tracking system, full speed is maintained. This selective speed adjustment minimizes the impact on productivity while ensuring adequate positioning accuracy is maintained during backup operation.
Solution Approach 2:
The control system dynamically adjusts the end effector speed parameter based on the active tracking system. When switching to the backup second tracking system, the speed parameter is reduced to compensate for any potential differences in measurement characteristics. This parameter adjustment ensures consistent positioning accuracy across both tracking systems while minimizing productivity impact.
Data Source
AI summary
A system for performing interactions within a physical environment including: a robot base that undergoes movement relative to the environment; a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a first tracking system that measures a robot base position; a second tracking system that measures movement of the robot base; and, a control system that uses a robot base position to at least partially control the robot arm to move the end effector along an end effector path, wherein the control system: determines the robot base position at least in part using signals from the first tracking system; and, in the event of failure of the first tracking system: determines a robot base position using signals from the second tracking system; and, controls the robot arm to move the end effector along the end effector path at a reduced end effector speed.