Robot Mode Switching for Accurate Motion and Faster Positioning
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Solution Overview
Problem
Conventional robots face challenges in switching between position-regulated and torque-regulated operating modes efficiently, leading to issues with positional accuracy, susceptibility to disturbances, and increased cycle times, especially when gripping or manipulating objects.
Innovation Solution
A method that determines a predicted intermediate state with a lower speed than a predetermined threshold, allowing seamless switching from torque-regulated to position-regulated operating mode, enabling precise positioning and improved robustness against disturbances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot switches from torque-regulated to position-regulated operating mode only after coming to a complete standstill, then positional accuracy is improved, but cycle time increases and productivity decreases
Solution Approach 1:
The system performs preliminary switching to position-regulated mode before the robot completely stops, based on predicted intermediate states. This allows the robot to be repositioned accurately while still in motion, eliminating the need to wait for complete standstill before mode switching, thereby reducing cycle time while maintaining positioning accuracy.
Solution Approach 2:
The system dynamically switches between operating modes based on real-time robot state and predicted intermediate states. Instead of using a static switching criterion (complete standstill), the system adapts the switching point dynamically by predicting when the robot will reach intermediate states, optimizing both accuracy and productivity.
2Adaptability or versatility
If the robot uses torque-regulated operating mode for gripping, then adaptability to different objects is improved, but positional accuracy deteriorates
Solution Approach 1:
The motion trajectory is segmented into multiple phases with different operating modes. The robot uses torque-regulated mode for approach and initial contact (where adaptability is needed), then switches to position-regulated mode for precise positioning (where accuracy is critical). This segmentation allows each mode to be used where it is most effective.
Solution Approach 2:
Predicted intermediate states act as intermediaries between torque-regulated and position-regulated operating modes. These intermediate states serve as transition points where the system can switch modes smoothly, allowing the robot to maintain adaptability during approach while achieving precision during the gripping phase.
3Productivity
If the robot switches operating modes during motion, then productivity is improved, but system complexity increases
Solution Approach 1:
The system uses the robot's own motion data and predicted intermediate states to automatically determine when to switch operating modes. The switching decision is made based on the robot's inherent dynamics and trajectory, without requiring external intervention or complex decision-making algorithms, thereby limiting the increase in system complexity.
Solution Approach 2:
The system changes the operating mode parameter based on predicted intermediate states rather than using complex multi-parameter decision logic. By focusing on a key parameter (predicted intermediate state prediction), the system achieves dynamic mode switching with relatively simple control logic, minimizing the increase in system complexity.
Data Source
AI summary
The disclosure relates to a method for operating a robot as well as to a correspondingly operated robotic system. As part of the method, it is determined, if a difference between a current position of the robot and a target position of the robot exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode. If the difference exceeds the threshold value, a predicted model-based intermediate state that the robot reaches before the target position according to the model is determined, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold. When the robot reaches the intermediate state, the robot is automatically switched from the torque-regulated operating mode to a position-regulated operating mode. The robot then moves into the target position in the position-regulated operating mode.