Robot-Mover Motion Coordination in Independent Cart Systems
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Solution Overview
Problem
Existing motion control systems for independent cart systems lack effective coordination between robots and vehicles, limiting their flexibility and efficiency in applications such as packaging, manufacturing, and machining.
Innovation Solution
A method for coordinating the motion of a robot mounted on a mover within an independent cart system by using a motion controller to generate separate commands for the robot and the mover, ensuring they follow a desired trajectory together, with a segment controller controlling the mover's operation and a robot control system managing the robot's axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot is mounted on a mover in an independent cart system, then the system gains enhanced flexibility and automation capability, but the coordination complexity between the robot and mover increases
Solution Approach 1:
The patent combines the robot control system and mover control system into an integrated coordination framework. The controller receives trajectory commands for the robot and generates coordinated control signals for both the robot axes and the mover, merging previously separate control functions into a unified system that manages their combined motion.
Solution Approach 2:
The controller is designed to perform multiple functions: it controls the robot's multi-axis motion, manages the mover's trajectory along the track, and coordinates their interactions. This universal controller handles both robot and mover operations, reducing the need for separate specialized control systems.
2Manufacturing precision
If the robot and mover are coordinated to follow a desired trajectory together, then positioning accuracy is improved, but the control system complexity increases
Solution Approach 1:
The coordination system incorporates feedback mechanisms where the controller receives information about the robot's and mover's actual positions and trajectories. Based on this feedback, the controller adjusts control signals to ensure both components follow the desired trajectory accurately, maintaining positioning precision through continuous monitoring and correction.
Solution Approach 2:
The controller receives the desired trajectory command in advance and pre-calculates the coordinated motion paths for both the robot and mover. By planning their movements beforehand and generating preliminary control signals, the system ensures they will follow the desired trajectory together, achieving accurate positioning through advance preparation.
3Measurement precision
If separate commands are generated for the robot and mover, then the coordination precision is improved, but the processing time and system complexity increase
Solution Approach 1:
The control system segments the coordination task into distinct control commands for the robot and mover. The controller generates separate control signals for each component based on their respective motion requirements, allowing precise independent control of each element while maintaining overall coordination through the unified control framework.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the flexibility and efficiency of operations by allowing precise coordination between the robot and the mover, improving positioning accuracy and enabling high-speed movement in various industrial processes.
Implementation Method 1
The linear drive system includes a set of independently controllable vehicles, also referred to herein as 'movers,' each supported on a track for motion along the track. The track is made up of a number of track segments that, in turn, hold individually controllable electric coils. Successive activation of the coils establishes a moving electromagnetic field that interacts with the movers and causes the mover to travel along the track.
Data Source
AI summary
Motion is coordinated between a robot and a mover in an independent cart system. A first mover for the independent cart system is located at an initial position, where the robot is mounted on the first mover. A motion trajectory command, defining motion of the robot and the first mover, is received at a motion controller. A mover command is generated for the first mover and a robot motion command is generated for the robot as a function of the motion trajectory command at the motion controller. The mover command is transmitted to a segment controller in a track segment on which the first mover is located, and the robot motion command is transmitted to a robot control system. Operation of the first mover is controlled with the segment controller in tandem with controlling operation of the robot with the robot control system responsive to the robot motion command.