Robot Motion Control for High-Speed Paths Under Joint Load Limits
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Solution Overview
Problem
Manual adjustment of acceleration parameters for robots to achieve high-speed actions is burdensome and requires trial and error, especially when dealing with multiple variations of taught points or waypoints, making it difficult to find optimal settings without excessive load on the robot.
Innovation Solution
A robot control device and method that acquires path and speed information, determines segments for reduced action time, corrects the robot path to minimize inertia, and adjusts acceleration control amounts to meet a target load, allowing for high-speed actions regardless of user skill level.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If manual adjustment of acceleration parameters is performed to achieve high-speed robot actions, then robot speed increases, but user burden and adjustment complexity increase significantly
Solution Approach 1:
The robot control device automatically determines optimal acceleration parameters by computing robot dynamics, inertia, and load characteristics without requiring manual user adjustment. The system serves itself by autonomously optimizing motion parameters based on robot specifications and task requirements, eliminating the need for users to perform trial-and-error adjustments.
Solution Approach 2:
The system dynamically computes and adjusts acceleration parameters based on robot configuration, task requirements, and real-time operational conditions. By automatically modifying acceleration, velocity, and position parameters according to computed inertia and load characteristics, the system achieves high-speed operation without manual intervention.
2Productivity
If acceleration parameters are increased to reduce Takt time, then productivity improves, but excessive load is imposed on the robot
Solution Approach 1:
The system computes optimal acceleration parameters that balance productivity improvement with robot load constraints. By dynamically adjusting acceleration, velocity, and position parameters based on computed inertia and load characteristics, the system reduces Takt time while maintaining load within safe operational limits.
Solution Approach 2:
The system uses computed load information and robot state feedback to automatically adjust acceleration parameters. By monitoring computed inertia, load characteristics, and robot response, the system optimizes acceleration to reduce Takt time while preventing excessive load conditions.
3Manufacturing precision
If multiple variations of taught points or waypoints are used to optimize paths, then path accuracy improves, but the effort to find optimal acceleration in every case becomes very large
Solution Approach 1:
The robot control device automatically determines optimal acceleration parameters for multiple path variations without requiring manual user adjustment. The system autonomously computes dynamics, inertia, and load characteristics for each path variant, eliminating the time-consuming manual adjustment process while maintaining path accuracy.
Solution Approach 2:
The system pre-computes robot dynamics, inertia, and load characteristics before executing motion. By performing preliminary calculations of optimal acceleration parameters for multiple path variations, the system eliminates the need for time-consuming trial-and-error adjustments during actual operation.
Data Source
AI summary
A robot control device includes: a first acquisition unit to acquire path information relating to a path of a robot and speed information relating to a speed the robot moves on the path; a second acquisition unit to acquire specification information relating to a specification of the robot; a determination unit to determine a segment where an action time of the robot is shortened even when a waypoint is added on the path; a correction unit to correct the path of the robot so as to make inertia of the robot smaller in a segment where an action time of the robot is shortened; a computation unit to compute a load acting on a joint of the robot; and an adjustment unit to adjust a control amount for controlling an acceleration of the robot joint such that the load computed by the computation unit satisfies a target load.