Robot State Switching for Contact-Driven Orientation Control
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Solution Overview
Problem
Robots may collide with obstacles on evacuation paths or experience excessive speed changes due to external forces, leading to operational inefficiencies and potential interference with human activities.
Innovation Solution
A robot system that includes a controller capable of switching between states to manage orientation changes based on detected external forces, using impedance control to vary rigidity and viscosity parameters, allowing for controlled orientation changes and obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot is decelerated or stopped in response to contact with human beings, then safety is improved, but the robot remains in work areas and impedes human work
Solution Approach 1:
The robot dynamically switches between multiple control states (first state with limited orientation change, second state with increased orientation tolerance, third state with restricted orientation change) based on detected external forces. This dynamic state transition allows the robot to respond appropriately to human contact while maintaining work efficiency, resolving the contradiction between safety and productivity
Solution Approach 2:
The controller changes control parameters (orientation change limitations, impedance control settings) based on the detected state of external force application. By adjusting these parameters across different states, the system achieves both safety through contact response and productivity through controlled orientation changes that facilitate evacuation
2Adaptability or versatility
If the robot performs evacuation operation by moving in the direction of decreased external force, then obstacle avoidance is improved, but the robot may collide with obstacles on evacuation paths
Solution Approach 1:
The robot employs dynamic state transitions during evacuation, switching from a first state to a second state when external force is detected, allowing orientation change in the direction of decreased external force. When orientation change starts and external force continues, it transitions to a third state to restrict further orientation change, preventing excessive movement that could cause collision
Solution Approach 2:
The control system continuously monitors external force application and robot orientation change, using this feedback to determine state transitions. The controller adjusts the robot's response based on real-time detection of force magnitude and orientation change progress, enabling safe evacuation while avoiding collisions
3Ease of operation
If the robot allows orientation change in accordance with external force, then human-robot interaction is improved, but the robot may experience excessive speed changes
Solution Approach 1:
The controller changes impedance control parameters (rigidity and viscosity) based on the detected state. In the second state, parameters allow orientation change for smooth interaction, while in the third state, parameters restrict orientation change to prevent excessive speed changes, maintaining speed stability
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances robot operation by allowing controlled orientation changes and obstacle detection, reducing collisions and maintaining efficient human-robot collaboration.
Implementation Method 1
using impedance control to vary rigidity and viscosity parameters
Data Source
AI summary
In a system including a robot and a controller controlling the robot, the controller switches the robot from a first state to a second state in which orientation change in accordance with external force applied to the robot is more tolerated than the first state based on detection of contact of an object with the robot. The controller switches the robot from the second state to a third state in which the orientation change in accordance with the external force is more restricted than the second state after the orientation change in accordance with the external force applied to the robot is started and while the external force is being applied to the robot.