Robot Control Apparatus Dynamic Speed and Acceleration Limits
Solution Overview
Problem
Industrial robots face excessive load when gripping two workpieces simultaneously, especially when operating at predetermined speed or acceleration limits, which can lead to mechanical stress and potential damage.
Innovation Solution
A robot control method and apparatus that dynamically adjust the upper speed and acceleration limits based on the number and type of workpieces gripped, allowing for safe operation by changing these limits when transitioning between one and two workpieces, and optimizing values for different workpiece types.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot operates at predetermined upper speed limit value and upper acceleration limit value while gripping two workpieces simultaneously, then productivity is improved, but excessive load is applied to the robot
Solution Approach 1:
The patent applies dynamics by making the speed and acceleration limits of the robot variable rather than fixed. The control device dynamically adjusts these parameters based on the detected number of workpieces being gripped. When two workpieces are detected, the system reduces the speed and acceleration limits to prevent excessive load, and when one workpiece is detected, it increases the limits to improve productivity. This dynamic adjustment resolves the contradiction between maintaining high productivity and preventing excessive mechanical load.
Solution Approach 2:
The patent implements parameter changes by modifying the operational parameters (speed limit and acceleration limit) of the robot based on the workpiece gripping state. The control device detects whether one or two workpieces are gripped and correspondingly changes the speed and acceleration parameters. This allows the robot to operate at optimal speeds for each condition, preventing excessive load during dual-workpiece operations while maintaining high productivity during single-workpiece operations.
2Device complexity
If a small-sized robot is used that accommodates smaller applied load, then device complexity is reduced, but the robot cannot operate at predetermined upper speed limit value when gripping two workpieces
Solution Approach 1:
The patent enables a small-sized robot to achieve productivity equivalent to larger robots through dynamic parameter adjustment. By reducing speed and acceleration limits only when gripping two workpieces, the system allows the smaller robot to operate at higher speeds during single-workpiece operations, compensating for its smaller capacity. This dynamic approach eliminates the need for an oversized robot while maintaining overall productivity.
Solution Approach 2:
The patent changes the operational parameters of the small-sized robot based on the workpiece gripping state. When one workpiece is gripped, the robot operates at higher speed and acceleration limits, maximizing productivity. When two workpieces are gripped, the limits are reduced to prevent excessive load. This parameter adaptation allows the smaller robot to perform effectively without requiring the continuous capacity of a larger robot.
3Productivity
If the robot grips two workpieces simultaneously, then productivity is improved, but excessive load can be applied to the robot
Solution Approach 1:
The patent implements feedback by using a detection device that continuously monitors the number of workpieces gripped by the robot hand. This detection information is fed back to the control device, which then adjusts the speed and acceleration limits accordingly. When two workpieces are detected, the system reduces operational parameters to prevent excessive mechanical stress, ensuring reliability. This closed-loop feedback mechanism resolves the contradiction between maintaining high productivity during workpiece exchange and preventing mechanical stress that would compromise reliability.
Data Source
AI summary
A robot control apparatus for controlling a robot for gripping two workpieces includes an upper limit value changing unit for changing at least one of the upper speed limit value and the upper acceleration limit value of the robot depending on the type and number of workpieces gripped, and an operation controlling unit for controlling the operation of the robot such that at least one of the speed and the acceleration of the robot does not exceed the changed upper speed limit value and upper acceleration limit value.