Robot Motion Segmentation for High-Speed Straight-Line Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional robot control methods, such as point to point (PTP) control and linear interpolation control, face challenges in ensuring high-speed motion without collisions and in maintaining a straight-line path, leading to potential collisions with objects or walls in the working space.
Innovation Solution
A robot control apparatus that divides the motion into acceleration, constant velocity, and deceleration sections, with each section further segmented to equalize moving times, and sets angular velocities based on joint angle variance, allowing for high-speed pseudo-linear motion by optimizing angular velocity in each segment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If point to point (PTP) control is applied to minimize moving time, then productivity is improved, but the movement path is not ensured leading to collision risk
Solution Approach 1:
The patent divides the movement path into multiple small segments and applies PTP control to each segment individually. This segmentation allows the robot to move quickly through each segment while the cumulative effect of many small segments approximates a straight line, thus maintaining both high speed and path accuracy to prevent collisions.
2Reliability
If linear interpolation control is applied to ensure movement path, then collision risk is reduced, but the robot cannot move at high speed
Solution Approach 1:
The patent segments the linear interpolation path into multiple small sections and applies PTP control to each segment. This allows the system to achieve high speeds while maintaining path accuracy, as each small segment can be controlled precisely without the computational overhead of continuous linear interpolation.
Solution Approach 2:
The patent dynamically adjusts the control method based on the specific movement requirements. By switching from traditional linear interpolation to segmented PTP control, the system optimizes performance to achieve both high speed and path accuracy adaptively.
3Manufacturing precision
If segment distances are shortened to improve path accuracy, then manufacturing precision is improved, but the number of segments increases leading to more complex control
Solution Approach 1:
The patent divides the movement path into multiple segments with optimized distances. By carefully selecting the number and length of segments, the system achieves high path accuracy without creating excessive complexity in the control system. The segmentation is performed in a way that balances precision requirements with computational efficiency.
Data Source
AI summary
A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and when the reference point is moved in each of the segments according to point to point control, an angular velocity setter to set an angular velocity of each of the segments based on a variance in an angle of a joint which becomes maximum with respect to each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section.