Robot Collision Restart Control Using Safe Position Coordinates
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Solution Overview
Problem
Current robot control systems are inadequate in responding autonomously and safely to accidental collisions, leading to potential damage and requiring significant time for robot restart after a collision, especially when collisions involve humans or external objects.
Innovation Solution
A robot control system that includes a collision detector, position calculator, and restart coordinate setter to determine a safe restart position, allowing the robot to autonomously switch to a force retaining mode and adjust its position to avoid interference, enabling rapid and safe resumption of movement after a collision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot moves at a slow speed to ensure safety, then human safety is improved, but productivity deteriorates
Solution Approach 1:
The robot control system dynamically adjusts its operating state based on real-time conditions. During normal operation, the robot can move at higher speeds for productivity. When a collision is detected, the system transitions to a safe state and automatically restarts, enabling the robot to operate at optimal speeds most of the time while maintaining safety through rapid collision response and recovery.
2Reliability
If the robot simply stops movement when a collision occurs, then safety is improved, but the robot suffers damage and requires significant time for restart
Solution Approach 1:
The system performs preliminary actions by automatically calculating the collision position, determining an appropriate restart position, and preparing the robot for restart immediately after collision detection. This preliminary preparation eliminates the need for manual intervention and significantly reduces restart time, allowing the robot to resume operations quickly while maintaining safety through controlled stopping.
Solution Approach 2:
The robot system serves itself by autonomously detecting collisions, calculating restart positions, and executing restart operations without human intervention. The control system automatically manages the entire collision response process, from detection to recovery, enabling the robot to handle its own safety and restart procedures, thereby minimizing downtime and eliminating the need for operator involvement.
3Productivity
If the robot continues to move after collision without stopping, then productivity is maintained, but serious accidents occur
Solution Approach 1:
The system implements feedback by continuously monitoring robot operation and automatically detecting when a collision occurs. Upon detection, the control system receives feedback about the collision position and automatically calculates an appropriate restart position. This feedback mechanism enables the robot to stop safely when needed while automatically recovering and resuming operation, thus preventing serious accidents while maintaining productivity through rapid autonomous recovery.
Data Source
AI summary
A robot control system for controlling a robot including an actuator is provided. The robot control system includes: a collision detector configured to detect a collision occurring between the robot and an external object during movement of the robot, a driving controller configured to control the actuator, a position calculator configured to calculate at least one of collision position coordinate information indicating a collision position where the collision occurs and pushed position coordinate information indicating a pushed position to which the robot is pushed by a collision force generated from the collision, and a restart coordinate setter configured to set the collision position or a position included in a preset moving path of the robot and spaced apart from the collision position as a restart position for restarting a moving operation of the robot, based on a result of the calculation by the position calculator.