Robot Speed Reduction Control With Dynamic Abnormality Detection
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Solution Overview
Problem
Existing robot control systems may not adequately detect speed reduction abnormalities when the robot reduces speed from a non-maximum speed, as they rely on comparative speed calculations, potentially missing subtle speed changes.
Innovation Solution
A control method for a robot system that includes a safety monitoring unit which acquires the operation speed of the robot at predetermined intervals during speed reduction control and detects abnormalities based on calculated speed changes, using methods such as consecutive comparisons or comparisons with previous time points, to accurately identify and initiate an emergency stop when necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If comparative speed calculation based on maximum speed is used for abnormality detection, then the detection method is simple, but the abnormality detection accuracy deteriorates when speed reduction occurs from non-maximum speeds
Solution Approach 1:
The patent changes the reference parameter for speed comparison from a fixed maximum speed to a dynamically determined reference speed based on the current operation speed. This allows the detection system to adapt to different operating conditions and accurately detect speed reduction abnormalities regardless of whether the robot is operating at maximum speed or reduced speed.
Solution Approach 2:
The patent performs preliminary determination of the reference speed based on the current operation speed before conducting the abnormality detection comparison. This preliminary action ensures that the comparison is always made against an appropriate reference value that reflects the current operational context, thereby improving detection accuracy.
2Device complexity
If conventional speed monitoring is used, then the monitoring system is simple, but the reliability of safety monitoring deteriorates due to undetected speed reduction abnormalities
Solution Approach 1:
The patent implements a feedback mechanism where the current operation speed is continuously monitored and used to dynamically adjust the reference speed for comparison. This feedback loop ensures that the monitoring system adapts to changing operational conditions and maintains high reliability in detecting speed reduction abnormalities across different operating states.
Solution Approach 2:
The system performs preliminary determination of the reference speed based on current operation characteristics before the actual abnormality detection occurs. This preliminary preparation of reference values ensures that the monitoring system is always configured appropriately for the current operational context, thereby improving reliability without requiring complex real-time adjustments during the detection moment.
Data Source
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AI summary
A control method for a robot system is provided. The robot system includes a robot, a robot control unit that controls an operation of the robot, and a safety monitoring unit that monitors the operation of the robot. The control method includes: a speed reduction control step of causing the robot control unit to perform speed reduction control of the robot, based on a speed reduction command; and an abnormality detection step of causing the safety monitoring unit to acquire an operation speed of the robot at a predetermined interval during the speed reduction control step, and to detect an abnormality in the speed reduction control from a speed change calculated based on the acquired operation speed.