Collaborative Robot Control Using Reachable-Range Interference Prediction
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Solution Overview
Problem
In shared work areas, robots and operators may interfere due to unexpected actions by the operator, such as stretching out their arm, which existing technologies fail to prevent effectively.
Innovation Solution
A robot control device that includes a distance estimation unit, an interference probability calculation unit, and an operation control unit, utilizing QR codes to determine the reachable range of the operator and the robot, and adjusting the robot's operation speed and direction based on calculated interference probabilities to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot operates at high speed in the shared work area, then productivity is improved, but the risk of interference with the operator increases
Solution Approach 1:
The robot control device dynamically adjusts the robot's operation speed based on real-time interference probability calculations. When the operator is in a safe state, the robot operates at high speed for productivity. When the operator performs unexpected actions (like stretching arm), the system detects the change, calculates increased interference probability, and automatically reduces robot speed to prevent interference, thus resolving the contradiction between speed and safety
Solution Approach 2:
The system continuously monitors operator position and robot state, calculates interference probability in real-time, and feeds this information back to adjust robot operation. This closed-loop feedback mechanism enables the robot to adapt its speed dynamically, maintaining high productivity when safe while preventing interference when risk is detected
2Manufacturing precision
If the robot operates at high speed, then manufacturing precision is maintained, but the ability to respond to unexpected operator actions deteriorates
Solution Approach 1:
The robot operates at high speed for precision work when the operator is in a safe state, maintaining manufacturing precision. When unexpected operator actions are detected through position changes, the system dynamically switches to a responsive mode that prioritizes interference prevention over precision, allowing the robot to adapt its behavior based on real-time conditions
3Reliability
If the robot speed is reduced to prevent interference, then safety is improved, but productivity deteriorates
Solution Approach 1:
The system changes the robot's operation speed parameter dynamically based on interference probability. Instead of maintaining a constant low speed for safety, the robot operates at high speed when interference probability is low (maintaining productivity) and reduces speed only when probability increases (ensuring safety when needed), thus resolving the contradiction between safety and productivity
Data Source
AI summary
A robot control device is configured to control a robot operating in a shared work area with an operator. The robot control device includes a distance estimation unit configured to obtain a reachable range of the operator on the basis of information on position and information on physical characteristics of the operator, and obtain a distance between the reachable range and the robot on the basis of information on position and information on shape of the robot and the reachable range, an interference probability calculation unit configured to obtain an interference probability between the robot and the operator on the basis of the distance, and an operation control unit configured to control operation of the robot on the basis of the interference probability.