Robot Manipulator Acceleration Control for Passenger Safety
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Solution Overview
Problem
Existing technologies for moving humans by robots in the entertainment sector, such as amusement rides, face challenges in optimizing acceleration values to ensure passenger safety and comfort while maximizing the thrill experience, as they often result in exceeding permissible acceleration limits or failing to adapt to different physiological tolerances of g-forces.
Innovation Solution
A method for a robot manipulator that determines and compares expected acceleration values with predetermined limits, allowing for real-time adjustments in movement speed and trajectory planning to maintain safe and thrilling experiences by using multiple acceleration thresholds and durations, and adapting the movement to match specified acceleration variables.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If high accelerations are used to stimulate passengers' sense of balance, then the thrill experience is improved, but passenger safety is compromised when permissible maximum acceleration values are exceeded
Solution Approach 1:
The system performs preliminary calculation of expected acceleration values before executing the movement. The controller determines the acceleration that will result from a planned movement and compares it with permissible acceleration values in advance, allowing preventive adjustment of the movement plan before the actual movement occurs, thus avoiding excessive acceleration while maintaining thrill
Solution Approach 2:
The system implements a feedback loop where the calculated acceleration values are continuously compared with permissible limits. When the expected acceleration exceeds permissible values, the system adjusts the movement plan accordingly. This closed-loop control ensures that thrill is maximized within safety boundaries by dynamically adapting the movement based on acceleration feedback
2Object-affected harmful factors
If drive power is limited and gear ratios are selected to prevent exceeding maximum acceleration, then safety is improved, but the thrill experience and sensory stimulation are reduced
Solution Approach 1:
The system dynamically adjusts the movement plan based on calculated acceleration values. Rather than using fixed limitations on drive power or gear ratios, the controller adaptively modifies movement parameters in real-time to stay within permissible acceleration limits while maximizing the thrill experience. This dynamic approach allows full utilization of available drive power within safety boundaries
Solution Approach 2:
The system changes movement parameters (such as speed profiles, trajectory, timing) to optimize the balance between thrill and safety. By adjusting these parameters based on calculated acceleration values, the system can deliver maximum sensory stimulation without exceeding permissible acceleration limits, avoiding the need for permanent reduction in drive capability
3Device complexity
If a single maximum acceleration limit is applied, then safety is simplified, but the system cannot adapt to different physiological tolerances and movement contexts
Solution Approach 1:
The system applies different permissible acceleration values for different directions of acceleration (e.g., longitudinal vs. lateral vs. vertical). This allows the control system to account for different physiological tolerances in different directions while maintaining a relatively simple overall control structure. Each direction can have its own tailored acceleration limits based on human tolerance characteristics
Data Source
Figure 1~2
AI summary
A method according to the invention for moving a person (3) by a manipulator, in particular a robot (1), comprises the steps of: moving a passenger compartment (2) for a person by the manipulator; and determining an acceleration quantity (g, T) of this movement (r(t), Ψ(t)); wherein the acceleration quantity of the movement is determined before executing this movement and compared with a predetermined acceleration quantity (gzul, Tzul); and/or the movement is adapted to a predetermined acceleration quantity (gzul, Tzul) if the determined acceleration quantity deviates from the predetermined acceleration quantity; and/or a predetermined acceleration quantity comprises different permissible acceleration durations (Tzul, 1, Tzul, 2), each of which is assigned to a permissible acceleration value (gzul, 1, gzul, 2).