Robot Identity Verification Using Excitation Signal Matching
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Solution Overview
Problem
Current robotic systems lack a method to safely and conveniently detect mismatches between controllers and robots, leading to potentially disastrous unexpected movements when an unmatched controller is used, as the mismatch is only identified during operation, and the brake system's delay can cause harm before engaging.
Innovation Solution
A method involving the controller sending excitation signals to the robot's components, determining parameters such as resistance and inductance, and comparing these with pre-stored identities to ensure correct matching before allowing operation, with error reporting and disabling if a mismatch is found.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the brake system is used to stop the robot, then the robot can be stopped, but the brake takes hundreds of milliseconds to act completely which may cause disastrous consequences during this period
Solution Approach 1:
The patent applies preliminary action by detecting the robot's identity and comparing it with the controller's configuration data before allowing the robot to operate. This early detection mechanism identifies mismatches before the robot executes any movements, preventing the need for emergency braking and eliminating the safety risk associated with brake response delay.
2Adaptability or versatility
If the controller is attached to a different robot, then the controller can control another robot, but the robot might move in an unexpected way which is dangerous
Solution Approach 1:
The system performs identity detection and comparison before the robot operates, identifying controller-robot mismatches in advance. This preliminary verification prevents the robot from executing commands with incorrect configuration data, thereby eliminating the risk of unexpected and dangerous movements while maintaining controller versatility.
Solution Approach 2:
The patent implements a feedback mechanism where the controller detects the robot's identity through parameters, compares it with stored configuration data, and provides feedback on whether the match is correct. This feedback loop ensures that only properly matched controller-robot pairs can operate, preventing harmful unexpected movements while allowing flexible controller usage.
3Measurement precision
If the mismatch is detected during operation, then the abnormal behavior can be identified, but it is too late to prevent disastrous consequences
Solution Approach 1:
The patent shifts the mismatch detection to occur before the robot operates, rather than during operation. By performing identity detection and comparison in advance, the system achieves both accurate detection and early timing, allowing sufficient time to prevent disastrous consequences before they can occur.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables early detection of mismatches, preventing dangerous movements and ensuring safer operation by automatically verifying the identity of the robot before initiating control, thus avoiding potential harm to operators or devices.
Implementation Method 1
determining resistance and inductance of the windings based on the at least one feedback signal and the at least one excitation signal
Implementation Method 2
sending at least one excitation signal to at least one component of the robot from the controller; receiving the at least one feedback signal that is provided by the at least one component in response to the at least one excitation signal
Data Source
AI summary
The present application relates to a method for robot control. The method includes: obtaining at least one parameter associated with a robot to be controlled by a controller; determining a first identity of the robot based on the at least one parameter; comparing the first identity with a pre-stored second identity; and in response to the first identity matching the second identity, controlling operations of the robot with the controller. The present application further discloses detection of a mismatch between the controller and the robot in an easy, safe and convenient way.