Robot Collision Avoidance Path Control to Mitigate Contact Force
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot control systems face challenges in safely managing collisions between robots and humans, as simply reversing the robot's trajectory can lead to increased contact force or collision with another human, compromising safety and reliability.
Innovation Solution
A robot control apparatus with a controller that includes an operation control unit and a state estimation unit, which detects collisions and generates an avoidance operation path to mitigate collision energy by dynamically changing the robot's operation path or stopping it.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot reverses its operation trajectory to respond to collision, then the robot stops moving forward, but the contact force increases or the robot collides with another human
Solution Approach 1:
Instead of simply reversing the robot's trajectory when collision is detected, the system inverts the approach by calculating an avoidance operation path that actively moves the robot away from the collision direction while considering the human's movement. This inversion transforms a reactive stop-reverse action into a proactive avoidance maneuver that reduces contact force.
Solution Approach 2:
The system dynamically adjusts the robot's operation path based on real-time collision detection and human movement prediction. Rather than using a fixed reverse trajectory, the avoidance path is continuously optimized by the operation planning unit to mitigate collision energy while accounting for changing environmental conditions and human motion.
2Reliability
If the robot executes reverse retraction mode, then the robot moves backward, but the external force does not decrease
Solution Approach 1:
The system implements a feedback mechanism where the state estimation unit continuously monitors collision forces and the operation planning unit adjusts the avoidance path based on this feedback. The external force information is used to optimize the avoidance maneuver, ensuring that the robot's movement effectively reduces the applied force while maintaining collision mitigation reliability.
Solution Approach 2:
The system changes operational parameters by transitioning from a simple reverse retraction mode to a dynamically calculated avoidance operation path. This parameter change includes adjusting the robot's velocity, direction, and acceleration profiles to optimize force reduction while maintaining effective collision response.
3Object-affected harmful factors
If the robot simply stops operation upon collision detection, then the immediate contact force is reduced, but the robot may collide with another human or object
Solution Approach 1:
The system performs preliminary action by pre-calculating avoidance operation paths that not only reduce immediate contact force but also proactively prevent secondary collisions. The operation planning unit prepares and executes avoidance maneuvers that clear the robot from potential collision zones before additional hazards can occur.
Solution Approach 2:
The avoidance operation path acts as an intermediary solution between simple stopping and complex trajectory reversal. This intermediate approach guides the robot through a controlled maneuver that reduces contact force while maintaining awareness of and protection against secondary collision risks with other humans or objects.
Data Source
AI summary
A robot control apparatus includes a controller configured to control a robot. The controller includes an operation control unit and a state estimation unit. The operation control unit is configured to cause the robot to operate along a first operation path. The state estimation unit is configured to estimate a state of the robot. When the state estimation unit detects collision with at least a part of the robot, the operation control unit is configured to acquire an avoidance operation path on which the robot would operate to mitigate energy of the collision. Upon acquiring the avoidance operation path, the operation control unit is configured to cause the robot to execute an avoidance operation along the avoidance operation path.