Robot Control via Pose-Dependent Inertia Minimization
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Solution Overview
Problem
Current methods for controlling robots, especially those interacting with humans, are limited by robot-specific or task-specific redundancy, which impairs performance and increases collision risks, as they often rely on worst-case scenarios rather than optimizing for specific collision scenarios.
Innovation Solution
The method involves minimizing pose-dependent inertia variables to eliminate redundancy, allowing for reduced collision impact and hazard potential by selecting favorable robot poses during path planning, thereby reducing the risk of collisions while maintaining or increasing working speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If worst-case limit values are specified for robot TCP speed to reduce collision consequences, then safety is improved, but robot performance is impaired
Solution Approach 1:
The patent changes the parameter from a fixed worst-case TCP speed limit to a variable speed profile that depends on the robot's current pose and inertia characteristics. By calculating pose-dependent inertia variables and adjusting the speed limit dynamically, the system allows higher speeds when inertia is low and lower speeds when inertia is high, thus maintaining safety while improving overall performance.
2Reliability
If robot redundancy is eliminated by selecting specific poses, then collision risk is reduced, but robot versatility is limited
Solution Approach 1:
The patent applies dynamics by making the robot's pose selection dynamic rather than static. Instead of eliminating redundancy permanently, the system dynamically selects from available redundant poses based on real-time inertia calculations. This allows the robot to adapt its configuration continuously to minimize collision risk while maintaining the ability to perform various tasks.
3Productivity
If working speed is increased to improve productivity, then output is improved, but collision hazard potential increases
Solution Approach 1:
The patent changes the speed parameter from a constant value to a dynamic value that depends on the robot's instantaneous inertia characteristics. By calculating the pose-dependent inertia variable and adjusting the working speed accordingly, the system allows higher speeds when the robot configuration results in low inertia (low hazard potential) and reduces speed when inertia is high, thus improving productivity without proportionally increasing collision hazard.
Data Source
Figure 1~2
AI summary
According to a method according to the invention for controlling a robot (1), in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a position-dependent inertia variable (m u(? v(q))) of the robot is minimized.