Robot Motion Control with Centripetal Acceleration Limiting
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Solution Overview
Problem
Existing robot movement control methods often result in unnatural movement and sudden braking, leading to instability and potential spilling or loss of objects being transported, due to inadequate control of centripetal acceleration and velocity.
Innovation Solution
A method and system that serially connect models for controlling robot movement parameters, such as centripetal acceleration, linear velocity, and angular velocity, applying constraint conditions to calculate corrected velocity parameters, ensuring stable and smooth movement by limiting centripetal acceleration and velocity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If robot movement is controlled by individually controlling linear velocity or angular velocity, then the control system is simple, but unnatural movement and sudden braking occur causing instability and potential spilling of objects
Solution Approach 1:
The control system is segmented into multiple serially connected models, each responsible for limiting a specific parameter (centripetal acceleration, linear velocity, angular velocity). This segmentation allows independent optimization of each parameter while maintaining overall system stability and preventing sudden braking.
Solution Approach 2:
The system performs preliminary correction of velocity parameters by serially applying constraint conditions through multiple limit models before executing movement. This preliminary action ensures that centripetal acceleration and velocity parameters are pre-adjusted to prevent unnatural movement and instability during robot operation.
2Productivity
If robot moves with high velocity, then productivity is improved, but inertia effects increase causing spilling of transported objects and posture instability
Solution Approach 1:
The system applies beforehand cushioning by serially connecting limit models that progressively correct velocity parameters. The first model limits centripetal acceleration, followed by subsequent models limiting linear and angular velocities, thereby cushioning the effects of high velocity before they can cause spilling or instability of transported objects.
Solution Approach 2:
The system dynamically changes velocity parameters through serial correction models that adjust centripetal acceleration, linear velocity, and angular velocity based on constraint conditions. This parameter transformation allows the robot to maintain high productivity while minimizing harmful inertia effects on transported objects.
Data Source
AI summary
A method for controlling movement of a robot includes inputting a first linear velocity parameter and a first angular velocity parameter, which are specified as the robot moves, into a first limit model for limiting a centripetal acceleration to correct the first linear velocity parameter and the first angular velocity parameter, thereby calculating a second linear velocity parameter and a second angular velocity parameter, inputting the second linear velocity parameter and the second angular velocity parameter into at least one of a second limit model for limiting a linear velocity and a third limit model for limiting an angular velocity to correct the second linear velocity parameter and the second angular velocity parameter, thereby calculating a third linear velocity parameter and a third angular velocity parameter, and controlling the movement of the robot based on the third linear velocity parameter and the third angular velocity parameter.