Robot Motion Path Control for Automatic Restricted Area Generation
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Solution Overview
Problem
Generating a precise and safe restricted motion area for robots is challenging, as current methods require manual setting by teaching operators and lack automation, leading to potential inaccuracies and safety concerns.
Innovation Solution
A robot controller with a motion control unit, motion path storage unit, restricted motion area generation unit, and motion restriction unit that automatically generates and enforces a restricted motion area based on stored motion paths, using vision correction and collision detection to define and maintain a safe operational space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual setting operations are performed by teaching operators to define restricted motion area, then the setting can be completed with existing methods, but the precision and accuracy of the restricted motion area are insufficient
Solution Approach 1:
The robot controller automatically generates the restricted motion area data by itself using the motion path storage unit and restricted motion area generation unit, without requiring external teaching operators to manually define the area. The system uses recorded motion paths to autonomously determine and set the restricted motion area, making the system self-sufficient in this task.
Solution Approach 2:
The patent replaces the manual mechanical setting process (teaching operators physically defining areas) with an automated computational system. The restricted motion area generation unit calculates the area based on stored motion path data, substituting human manual operations with automated algorithmic processing to achieve higher precision.
2Reliability
If restricted motion area is manually set by teaching operators, then the setup process is simple, but the safety and precision of robot operation are compromised
Solution Approach 1:
The system performs preliminary recording of motion paths during robot operation before generating the restricted motion area. By storing the actual motion paths first in the motion path storage unit, the system has accurate reference data to work with when creating the restricted area, ensuring safety without requiring complex real-time calculations.
Solution Approach 2:
The motion path storage unit acts as an intermediary between robot operation and restricted area generation. It stores and preserves the actual motion paths, providing accurate intermediate data that the restricted motion area generation unit then uses to create safe operational boundaries, eliminating the need for manual estimation.
3Reliability
If test running is performed to check robot operation, then potential positioning errors can be detected, but time is consumed and the process is inefficient
Solution Approach 1:
The system performs preliminary recording of actual robot motion paths during normal operation before finalizing the restricted motion area. This preliminary data collection allows the system to accurately define boundaries that inherently prevent unintended movements, eliminating the need for separate test running phases to detect positioning errors.
Solution Approach 2:
The system uses feedback from recorded motion paths to automatically adjust and define the restricted motion area. By continuously monitoring and storing actual robot positions and movements, the system learns the true operational boundaries and configures restrictions based on real data, ensuring reliability without time-consuming test runs.
Data Source
AI summary
A robot controller for controlling motion of a robot includes a motion control unit configured to control the motion of the robot in accordance with an operation program, a motion path storage unit configured to store a motion path of a predetermined movable part of the robot when the robot operates in accordance with the operation program, a restricted motion area generation unit configured to generate restricted motion area data representing a restricted motion area for restricting the motion of the robot based on the stored motion path, and a motion restriction unit configured to restrict the motion of the robot in the restricted motion area based on the restricted motion area data.