Robot End Effector Trajectory Recovery After Collision
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Solution Overview
Problem
Current robot collision detection solutions based on current or torque do not effectively prevent losses due to collisions, as they fail to address potential secondary damage and do not efficiently restore the robot's trajectory after a collision.
Innovation Solution
A method and apparatus that determine a new trajectory for a robot's end effector based on the collision force and a recorded pre-collision trajectory, using an impedance control model to adjust the inertia, damping, and stiffness matrices, allowing the end effector to move safely post-collision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robot moves at high speed to achieve high work efficiency, then productivity is improved, but collision risk increases causing potential damage to robot and working environment
Solution Approach 1:
The system performs preliminary action by detecting collisions in advance using force sensors and impedance control before significant damage occurs. The collision detection mechanism monitors forces during high-speed operation and triggers protective responses proactively, allowing the robot to maintain high productivity while preemptively preventing collision damage.
Solution Approach 2:
The system implements feedback through force sensors that continuously monitor collision forces during robot operation. When a collision is detected, the impedance control adjusts the robot's mechanical impedance based on the measured force, creating a closed-loop feedback system that enables safe high-speed operation by dynamically responding to collision conditions in real-time.
2Difficulty of detecting and measuring
If traditional collision detection based on current or torque is used, then collision detection capability is provided, but the solution fails to prevent secondary damage and restore trajectory efficiently
Solution Approach 1:
The system replaces traditional current or torque-based collision detection with force sensor-based detection combined with impedance control. This substitution provides more accurate collision force measurement and enables dynamic trajectory adjustment through mechanical impedance modification, effectively preventing secondary damage and enabling efficient trajectory restoration after collisions.
Solution Approach 2:
The system changes parameters by dynamically adjusting mechanical impedance (inertia, damping, and stiffness matrices) based on detected collision forces. This parameter modification allows the robot to adapt its mechanical characteristics in real-time during and after collisions, enabling effective secondary damage prevention and trajectory recovery that traditional fixed-parameter systems cannot achieve.
3Reliability
If robot work is stopped after collision detection, then collision protection is provided, but productivity is reduced due to shutdown and component replacement
Solution Approach 1:
The system applies dynamics by dynamically adjusting the robot's mechanical impedance parameters (inertia, damping, and stiffness matrices) in real-time based on detected collision forces. This dynamic adaptation allows the robot to maintain protective collision response while continuing operation or quickly resuming along a corrected trajectory, eliminating the need for shutdowns and component replacements that cause productivity loss.
Solution Approach 2:
The system ensures continuity of useful action by enabling the robot to maintain operation through dynamic impedance control rather than stopping after collision detection. The force sensor-based detection and adaptive trajectory adjustment allow uninterrupted or quickly resumed productive work, preventing the downtime and productivity loss associated with traditional stop-and-replace approaches.
Data Source
AI summary
A method and apparatus for determining a trajectory of a robot's end effector are disclosed. In an embodiment, the apparatus includes a force obtaining device to obtain a collision force of the end effector of the robot, caused by a collision of the end effector upon the collision being detected; and a trajectory determining device to determine a second trajectory of the end effector based on the collision force of the end effector obtained, and based on a recorded first trajectory of the end effector. The recorded first trajectory is a trajectory recorded before the collision, and the second trajectory is a trajectory determined after the collision. As such, an efficient protection for the robot and its working environment at the moment of collision may be achieved.