Robot Following Control Using Speed, Acceleration, and Jerk Feedback
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Solution Overview
Problem
Existing robot systems face challenges in accurately following a moving object transferred by a transfer device, as they struggle to maintain consistent speed, acceleration, and jerk, leading to potential errors in work performance and difficulty in identifying abnormalities in the detection results.
Innovation Solution
A robot controller that uses a movement-amount detecting device to monitor the transfer device's movement and calculates the speed, acceleration, and jerk of the target, allowing it to adjust its operation and report any deviations from predetermined references, thereby ensuring stable following control and detecting abnormalities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot follows the target object transferred by the transfer device, then the robot can perform work on the moving object, but the speed, acceleration, and jerk may deviate from reference values causing work performance errors
Solution Approach 1:
The robot controller continuously monitors the actual speed, acceleration, and jerk of the target object during transfer, compares these values with predetermined reference ranges, and adjusts the robot's following control in real-time to maintain consistency and prevent deviations that would affect work performance
Solution Approach 2:
The system replaces mechanical coupling between the transfer device and robot with a sensor-based detection system that uses movement-amount detecting devices to measure position, speed, acceleration, and jerk, allowing for precise control without direct mechanical connection
2Productivity
If the robot follows the target object, then the robot can perform work on the moving object, but abnormalities in detection results are difficult to identify
Solution Approach 1:
The robot controller implements continuous feedback monitoring of detection results from the movement-amount detecting device, comparing actual speed, acceleration, and jerk values against reference ranges to automatically identify and flag abnormalities in the detection system
Solution Approach 2:
The system pre-establishes reference ranges for speed, acceleration, and jerk before operation begins, enabling proactive detection of abnormalities by comparing real-time measurements against these predetermined thresholds rather than reacting to failures after they occur
Data Source
AI summary
This robot controller causes a robot to follow a target, while a transfer device moves the target, by using a detection result obtained by a movement-amount detecting device that detects the amount by which the transfer device moves the target. When the value of any one of the speed, the acceleration, and the jerk of the target calculated based on the detection result obtained by the movement-amount detecting device or the pattern of the speed, the acceleration, and the jerk deviates from the predetermined reference, the robot controller performs predetermined reporting or stops the robot.