Robot Motion Control for Uniform Brake Energy Limits
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Solution Overview
Problem
Prior art robot units require multiple types of brake units with different braking capacities, leading to increased complexity and cost in manufacturing and maintenance due to varying kinetic energy requirements across motion mechanisms.
Innovation Solution
A robot controller that determines and maintains a uniform kinetic energy level across motion mechanisms, allowing the use of a single type of braking unit by adjusting speeds through motor units or brake units to prevent excessive kinetic energy, thereby simplifying design and reducing component diversity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If different braking capacities are used for different motion mechanisms to meet varying kinetic energy requirements, then the robot unit can be brought to a standstill position within specified criteria, but the number of different brake unit types increases, leading to increased manufacturing and maintenance complexity
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the kinetic energy threshold parameter for different motion mechanisms. The controller is configured to limit kinetic energy to different levels for different motion mechanisms based on their specific characteristics, allowing a single brake unit type to effectively handle varying energy requirements through software-based parameter differentiation rather than hardware diversity.
Solution Approach 2:
The patent implements universality by designing a single brake unit type that can serve multiple motion mechanisms with different kinetic energy requirements. The brake unit is made universal through the controller's ability to adapt its operation to different kinetic energy thresholds, making one brake design sufficient for all motion mechanisms rather than requiring specialized brakes for each.
2Device complexity
If a single type of brake unit is used for all motion mechanisms, then manufacturing and maintenance complexity is reduced, but the ability to meet varying kinetic energy requirements and bring the robot to a standstill within specified criteria becomes compromised
Solution Approach 1:
The patent applies dynamics by making the kinetic energy threshold a dynamic, adjustable parameter rather than a fixed hardware characteristic. The controller dynamically determines appropriate kinetic energy limits for each motion mechanism based on real-time operational data, allowing a single brake unit type to adapt to varying requirements through software control rather than requiring multiple fixed-capacity brake designs.
Solution Approach 2:
The patent implements feedback by continuously monitoring the kinetic energy of each motion mechanism and comparing it against predetermined threshold values. The controller uses this feedback to determine when to activate the brake unit and for how long, ensuring that even with a single brake unit type, the system can reliably bring each motion mechanism to a standstill within specified criteria by adjusting the braking duration and intensity based on real-time kinetic energy measurements.
Data Source
Figure 1a~1b
Figure 2
AI summary
A robot controller (3) for controlling the operation of a robot unit (1). The robot unit comprises a plurality of robot arms (5a-c) that each comprises at least one motion mechanism (7a-d, 8) adapted to set the robot arm in motion, wherein a tool (4) of the robot unit is adapted to be moved along an operational path (2). The robot controller is adapted to determine the kinetic energy subjected to each motion mechanism of the robot arms (5a-c), and, on basis of the determined kinetic energies, control the speed of each motion mechanism, while maintaining a movement of the tool along the operational path, so that said kinetic energy does not exceed a certain level that is the same for at least two motion mechanisms.