Robot Motion Control for Stable High-Speed Object Handling
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Solution Overview
Problem
Existing robot control methods fail to account for varying sizes, weights, and centers of gravity of gripped objects, leading to potential object drops and suboptimal operation speeds.
Innovation Solution
A control device that includes a state information generation unit and a control information generation unit, utilizing a neural network to generate real-time control information based on robot and object states, mechanism constraints, and movement constraints to stabilize and accelerate the movement of diverse objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the entire speed profile is increased to achieve faster operation, then productivity is improved, but the robot may exceed motor load limits or cause the gripped object to fall
Solution Approach 1:
The patent applies local quality by adjusting the speed profile locally at specific positions along the trajectory rather than uniformly increasing the entire speed profile. The control device calculates appropriate speed adjustments at each position based on the gripped object's weight and center of gravity, allowing faster operation where safe and maintaining stability where required.
Solution Approach 2:
The patent implements dynamics by making the speed profile adaptive and variable based on real-time conditions. The control device dynamically adjusts the speed profile according to the gripped object's characteristics (weight, center of gravity position) and the robot's current state, enabling the system to operate at maximum safe speed at each moment rather than using a fixed speed profile.
2Reliability
If the speed profile is uniformly adjusted to prevent object drops, then object stability is improved, but operation efficiency decreases
Solution Approach 1:
The patent applies local quality by adjusting the speed profile locally at specific positions along the trajectory rather than uniformly increasing the entire speed profile. The control device calculates appropriate speed adjustments at each position based on the gripped object's weight and center of gravity, allowing faster operation where safe and maintaining stability where required.
Solution Approach 2:
The patent implements parameter changes by modifying the speed profile parameters (velocity, acceleration) based on the gripped object's characteristics. The control device changes speed parameters dynamically according to the object's weight and center of gravity position, enabling optimized operation that maintains stability while maximizing efficiency.
3Productivity
If the robot operates at maximum speed without considering object characteristics, then productivity is improved, but the gripped object may fall due to insufficient force consideration
Solution Approach 1:
The patent applies preliminary action by calculating the appropriate speed profile and grip force requirements before the robot begins movement. The control device determines the necessary speed adjustments and grip forces based on the gripped object's weight and center of gravity, preparing the optimal control parameters in advance to prevent object drops while maximizing operation speed.
Solution Approach 2:
The patent implements feedback by continuously monitoring the robot's state and adjusting the speed profile based on the gripped object's characteristics. The control device uses information about the object's weight and center of gravity to feedback-adjust the speed commands, ensuring the robot operates at the maximum safe speed while maintaining object stability.
Data Source
AI summary
Various gripped objects having different sizes, weights, centers of gravity, and the like are continuously and stably moved at a high speed. A control device includes: a state information generation unit that generates and updates state information on a robot and a gripped object; and a control information generation unit that generates, based on the state information and a base trajectory generated in advance on which the robot is configured to move the gripped object from a start point to an end point, control information for controlling the robot.