Robot Load Monitoring Near Singular Positions by Direction
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Solution Overview
Problem
Robots face challenges in reliably detecting external loads near singular positions due to poor conditioning of the Jacobian matrix, leading to reduced precision and restricted movement options.
Innovation Solution
A method and system that display and differentiate between directions where external loads are not reliably detectable (first directions) and those where they are reliably detectable (second directions) based on joint loads, allowing for safer and more flexible movement planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot operates near singular positions, then the robot can reach more positions and maintain movement continuity, but the precision of determining external loads on the basis of detected joint loads deteriorates due to poor conditioning of the Jacobian matrix
Solution Approach 1:
The monitoring space is segmented into multiple directional components relative to the singular position. Instead of treating load monitoring as a single omnidirectional function, the system divides it into individual directional assessments, allowing the robot to identify which specific directions maintain reliable load detection capability even when near singular configurations.
Solution Approach 2:
The system applies local quality by assigning different monitoring characteristics to different spatial directions. Directions with sufficient load detection reliability are marked as monitored, while directions with poor reliability are marked as not monitored. This localized differentiation allows the robot to operate near singular positions while maintaining safety in directions where monitoring remains effective.
2Measurement precision
If the robot avoids singular positions to maintain load detection precision, then measurement precision is improved, but the robot's movement options are restricted
Solution Approach 1:
The monitoring capability is made dynamic and direction-dependent rather than static and omnidirectional. The system continuously assesses load detection reliability in different directions relative to the current robot configuration and singular positions, allowing the monitored directions to change dynamically as the robot moves, thereby enabling operation near singular positions when appropriate.
Solution Approach 2:
The problem is shifted from a scalar (overall load monitoring) to a vectorial (direction-specific load monitoring) perspective. By introducing directional dimensions to load monitoring, the system can identify that while overall monitoring may be degraded near singular positions, specific directional components may remain reliable, thus expanding acceptable operating regions.
3Adaptability or versatility
If individual joint rotation is used to avoid singular configurations, then the robot can maintain movement capability, but the movement options are profoundly restricted
Solution Approach 1:
The system implements feedback by continuously monitoring the robot's proximity to singular positions and the reliability of load detection in different directions. This feedback information is used to dynamically adjust which directions are considered monitored, allowing the robot to operate near singular positions when load detection remains reliable in critical directions, thereby avoiding unnecessary movement restrictions.
Data Source
AI summary
In a method and system for operating a robot, at least one first direction, in which an external load acting on a reference is not reliably detectable on the basis of detected joint loads due to the vicinity to a singular position of the robot, is displayed as not being monitored on the basis of detected joint loads, and/or at least one second direction, in which an external load acting on the reference is reliably detectable on the basis of detected joint loads despite the vicinity to the singular position, is displayed as being monitorable on the basis of detected joint loads. Additionally or alternatively, at least one first direction is blocked if an external load acting on the reference in said direction is not reliably detectable on the basis of detected joint loads due to the vicinity to a singular position of the robot, and if at least one direction is blocked and multiple joints of the robot are simultaneously actuated, a monitoring process is carried out on the basis of detected joint loads for an external load acting on the reference in at least one second direction, in which an external load acting on the reference is reliably detectable on the basis of detected joint loads despite the vicinity to the singular position.