Robot-Guided Object Deceleration With Jerk-Limited Braking
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Solution Overview
Problem
Existing braking methods result in non-vanishing jerk due to non-constant acceleration, leading to longer braking distances and inefficiencies.
Innovation Solution
A method that limits jerk by dividing the braking process into periods with negative and positive jerks, each below a threshold, ensuring constant acceleration and deceleration phases to achieve zero speed and momentum, utilizing a multi-axis robot to guide the object along a trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If conventional braking methods are used with non-constant acceleration, then the braking process is simple to implement, but the jerk is non-zero leading to longer braking distances
Solution Approach 1:
The braking process is divided into multiple discrete time periods (first, second, third, fourth time periods), each with specific jerk characteristics. This segmentation allows the system to achieve short braking distance through coordinated jerk limitation while managing complexity through structured temporal phases.
Solution Approach 2:
The acceleration is made dynamic by applying different jerk values (positive and negative) at different time periods. The jerk is not constant but varies dynamically: negative jerk in first period, zero jerk in second period, positive jerk in third period, and negative jerk in fourth period, allowing optimization of braking distance.
2Loss of time
If jerk is limited to below threshold values, then the deceleration is smooth and controlled, but achieving short braking distance becomes more difficult
Solution Approach 1:
The braking process uses periodic alternation between negative and positive jerk applications. Negative jerk is applied in the first time period to initiate deceleration, then positive jerk is applied in the third time period to optimize the deceleration profile, with each jerk application lasting below the threshold duration to maintain reliability while achieving short braking distance.
Solution Approach 2:
The jerk parameter is dynamically changed throughout the braking process. Instead of maintaining a constant jerk value, the system transitions between negative jerk, zero jerk, and positive jerk states at different time periods, optimizing the braking distance while始终保持 jerk magnitude below the threshold value for reliability.
3Adaptability or versatility
If the object is subjected to multiple jerk phases with zero crossings, then reversing within braking distance is enabled, but the control complexity increases
Solution Approach 1:
The control program is designed in advance to incorporate the multi-phase jerk profile with predetermined zero crossings. The first, second, third, and fourth time periods are pre-planned with specific jerk characteristics, allowing the object to reverse within the braking distance without requiring complex real-time decision-making, thus managing control complexity.
Data Source
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AI summary
The invention relates to a method for decelerating an object, in particular wherein the object is received in a receptacle unit which is guided along a trajectory by a machine, in particular by a multi-axis or multi-limbed robot, wherein, in a first period, the object, which is initially moved at a velocity, is subjected to a negative shock, the amount of which is below a threshold value and, in a second period following the first period, the object is subjected to no shock, that is, constant acceleration, wherein the velocity of the object passes through zero and/or wherein the velocity of the object disappears and then reverses its direction and, in a third period following the second period, the object is subjected to a positive shock, the amount of which is below a threshold value and, in a fourth period following the third period, the object is subjected to a negative shock, the amount of which is below a threshold value, wherein the temporal progression of the shock in the third and fourth period of time is chosen such that the velocity reaches zero at the end of the fourth period.