Robot Control Interface With Exclusive Operation Rights
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Solution Overview
Problem
Simultaneous operation of a robot by two different operators using different operation devices can lead to conflicts and unintended robot motions, and operators need to learn different operation methods for robots and machine tools.
Innovation Solution
A robot control system with a robot controller that manages operation rights for two connected operation devices, ensuring only one device operates the robot at a time by using request switches to grant and maintain operation rights, preventing simultaneous operation and allowing seamless transition between devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple operation devices are connected to control the robot, then the robot can be operated by different operators, but simultaneous operation conflicts occur and unintended robot motions may happen
Solution Approach 1:
The robot controller acts as an intermediary between multiple operation devices and the robot. It manages operation rights by receiving request switch signals from each device, determining which device has priority based on request timing and device priority settings, and granting exclusive operation rights to one device at a time. This mediator approach allows multiple devices to be connected while preventing simultaneous operation conflicts.
Solution Approach 2:
The system dynamically adjusts operation rights based on real-time request switch states. When an operation device's request switch is activated, the controller dynamically transfers operation rights from the current device to the requesting device. This dynamic right management ensures that only one device can operate the robot at any given moment, preventing unintended motions while maintaining flexibility for different operators.
2Ease of manufacture
If different operation devices are used for robots and machine tools, then specific functions can be optimized, but operators need to learn different operation methods increasing complexity
Solution Approach 1:
The operation devices are designed with universal functionality to operate both robots and machine tools. The robot controller and machine tool controller can both receive operation signals from the same operation devices through the request switch mechanism. This allows a single operation device to control multiple types of equipment, reducing the number of devices operators need to learn while maintaining optimized functions for each equipment type.
3Reliability
If operation rights are granted to one device, then simultaneous operation conflicts are prevented, but the other device cannot operate the robot even when needed
Solution Approach 1:
The system uses request switches that can be activated in advance to claim operation rights. When an operator activates the request switch on their operation device, the system registers this preliminary action and grants operation rights when the current device releases them. This allows operators to prepare for operation in advance, ensuring smooth transitions while maintaining exclusive control to prevent conflicts.
Data Source
AI summary
A robot control system including a robot controller configured to control a robot, two operation devices configured to manually operate the robot, the first operation device being connected to the robot controller. Each of the operation devices has a request switch configured to switch between a request state in which an operation right for the robot is requested and a non-request state in which the operation right is not requested, and the robot controller is configured to start providing the operation right to one of the operation devices only when the request switch of the one of the operation devices is in the request state and the request switch of the other of the operation devices is in the non-request state, and keep the operation right granted until the request switch of the one of the operation devices is switched to the non-request state.