Robot Path Prediction for Moving Reference Frame Limits
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Solution Overview
Problem
Existing methods struggle to effectively manage robot operations when following work paths relative to moving reference systems, such as conveyor belts, leading to potential overloading and inefficiencies.
Innovation Solution
A method and control system that predict and monitor the pose and temporal derivatives of a robot relative to a moving reference system, allowing for compliance with predefined limits and enabling smooth traversal of work paths by adjusting speed profiles and initiating countermeasures if limits are exceeded.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot follows work paths relative to a moving reference system without prediction and monitoring, then the control system is simpler and real-time computation is reduced, but the robot may exceed specified limits for position and temporal derivatives leading to overloading and inefficiencies
Solution Approach 1:
The control system predicts future poses of the reference system and future positions of the robot before they occur. This preliminary calculation allows the system to proactively identify and prevent potential limit exceedances, ensuring reliability without requiring complex real-time intervention mechanisms.
Solution Approach 2:
The system dynamically adjusts the robot's speed profile based on predicted future states. By continuously updating predictions and recalculating speed profiles, the system adapts to changing conditions while maintaining compliance with specified limits, resolving the contradiction between reliability and complexity.
2Productivity
If the robot traverses work paths at maximum speed without prediction, then productivity is higher, but the robot may exceed specified limits for position and temporal derivatives causing overloading
Solution Approach 1:
The system calculates future robot positions and reference system poses in advance, allowing it to identify upcoming sections where speed limits might be exceeded. This enables proactive speed adjustment before violations occur, maintaining both high productivity and reliability.
Solution Approach 2:
The control system dynamically changes the speed parameter based on predicted future states. By adjusting the speed profile in response to predicted conditions, the system optimizes productivity while ensuring compliance with specified limits for position and temporal derivatives.
3Reliability
If the robot adjusts speed profile frequently to maintain compliance, then reliability is improved, but time loss increases due to repeated calculations and adjustments
Solution Approach 1:
The system performs predictions and calculations in advance during periods when the robot is traversing known sections. This preliminary computation reduces the need for frequent real-time adjustments, minimizing time loss while maintaining reliability through proactive limit compliance.
Data Source
Figure 1~3
AI summary
The invention relates to a method for operating a robot (20), said method comprising the steps: - specifying (S5), relative to a moving reference system ({10X, 10Y, 10Z}), at least one working path (B0→B1, B1→B2) of the robot to be travelled; - predicting (S30, S60) at least one pose of the reference system on the basis of a current pose and a speed (V10) of the reference system, and a time taken to reach said pose; - predicting (S30, S60), on the basis of the predicted pose of the reference system, at least one position of the robot and/or at least one temporal derivative of the position of the robot for the work path to be travelled; and - monitoring (S40, S70) a compliance with a predetermined limit at this position or temporal derivative.