Robot Motion Resynchronization After Fault Recovery
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Solution Overview
Problem
When multiple robots perform synchronized actions, a malfunctioning robot struggles to maintain consistency with others after recovering from a fault, affecting the performance quality.
Innovation Solution
A method and system for controlling robot motion that involves acquiring the current motion state, storing relevant data during abnormal states, tracking the restoring time to a normal state, and resuming actions based on this data and time once the robot returns to normal operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot continues performing actions after recovering from an abnormal state without compensation, then the robot can quickly resume operation, but the action timing becomes inconsistent with other robots, affecting synchronized performance quality
Solution Approach 1:
The system pre-calculates and stores the duration of the abnormal state before the robot resumes normal operation. This preliminary measurement of the interruption time allows the robot to compensate for the delay by adjusting the timing of subsequent actions, ensuring synchronization with other robots while maintaining quick resumption of operations
Solution Approach 2:
The robot dynamically adjusts the timing parameters of its actions based on the measured abnormal state duration. By changing the time parameters of subsequent movements and actions, the robot compensates for the interruption delay and realigns its performance timeline with the synchronized performance schedule
2Manufacturing precision
If the robot waits for perfect synchronization before resuming actions after an abnormal state, then action consistency is maintained, but the overall performance duration is extended and productivity decreases
Solution Approach 1:
The system pre-measures the abnormal state duration and pre-calculates the required compensation timing before the robot resumes actions. This allows the robot to immediately resume operations with pre-computed timing adjustments, avoiding delays while maintaining synchronization precision
Solution Approach 2:
The robot dynamically adjusts its action timing based on the actual abnormal state duration rather than using fixed waiting periods. This dynamic timing adjustment allows the system to maintain precision while adapting to varying fault durations, preventing unnecessary performance extensions
Data Source
AI summary
The present disclosure relates to intelligent control technology, and provides a robot, a method for controlling motion of a robot and a non-transitory readable medium. The method includes: acquiring current motion state of the robot; when the robot is in abnormal motion state, storing received data; when the robot returns to normal motion state, acquiring restoring time for the robot to return from the abnormal motion state to the normal motion state; and controlling the robot to perform a corresponding action after the robot returns to the normal motion state. In this way when multiple robots perform synchronized tasks and one of them is interrupted, this robot may perform the corresponding action based on the fault duration and the data which correspond to the action the robot needs to perform in the normal motion state. Thus, this robot may keep its actions consistent with the others.