Robot Motion Control for Obstacle Avoidance With Shorter Action Time
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot controllers face challenges in reducing action time for movement while avoiding collisions with obstacles, especially when an appropriate passing point is not designated by the user.
Innovation Solution
A robot controller that includes an axis motor control unit, a storage unit for robot, end point, and obstacle information, and an action command generation unit. This unit generates a first action command to minimize the action time without considering obstacles and adjusts other axis commands to reduce the action time while ensuring the robot avoids obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the controller adjusts an action command for each axis such that the workpiece passes through the passing point designated by a user, then the workpiece can avoid obstacles, but the action time for the movement increases if the passing point that is appropriate is not designated by the user
Solution Approach 1:
The robot controller automatically determines the passing point by itself without requiring user designation. The control unit calculates the passing point based on the robot's current position, goal position, and obstacle information, enabling the system to serve itself in optimizing the trajectory.
Solution Approach 2:
The patent replaces the manual user designation process with an automated computational system. The control unit uses algorithms to calculate the optimal passing point, substituting the mechanical interaction of user input with an automated information processing system.
2Reliability
If the controller generates a trajectory that avoids obstacles by adjusting cam curves for multiple motors, then obstacle avoidance is achieved, but the action time increases when the passing point is not appropriately designated
Solution Approach 1:
The control unit automatically determines the optimal passing point and adjusts the cam curves without user intervention. This self-service capability ensures that the robot can efficiently avoid obstacles while maintaining minimal action time.
Solution Approach 2:
The control unit dynamically adjusts the cam curve parameters based on the calculated passing point. By changing the trajectory parameters automatically, the system optimizes both obstacle avoidance and movement efficiency without requiring user input.
3Device complexity
If the controller uses a fixed trajectory generation method, then the control process is simple, but the action time cannot be reduced when obstacles are present
Solution Approach 1:
The control unit performs preliminary calculation of the passing point before generating the final trajectory. This preliminary action allows the system to prepare an optimized path that avoids obstacles while maintaining efficiency, without adding significant complexity to the overall control process.
Data Source
AI summary
A robot controller includes: axis motor control units that control motors for driving axes of a robot; and an action command generation unit that generates a first action command having the shortest action time when the robot is moved from an action start point to an action goal point without considering an obstacle, and selects, from among the axes, a major axis having the longest action time when the action is performed in accordance with the first action command. The first action command includes another axis command, and a major axis command, and the action command generation unit adjusts the other axis command so as to reduce an action time according to the other axis command and outputs a second action command including the major axis command and the adjusted other axis command and corresponding to a first trajectory when determining that the first trajectory avoids a clash between the robot and the obstacle.