Robot Pulse Limiting Control for Smooth Speed Changes
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Solution Overview
Problem
Existing robot control methods struggle to maintain smooth acceleration and deceleration of robots when the operation speed of manual pulse generation devices fluctuates significantly, potentially leading to unsafe or inefficient operation.
Innovation Solution
A robot control device with a manual pulse generation unit, a command signal calculation unit, and a pulse number limiting unit that calculates and limits the pulse number to a predetermined threshold, ensuring the robot operates within its maximum speed limits, preventing excessive speed and ensuring smooth control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the pulse number generated by the manual pulse generation unit is not limited, then the robot can respond quickly to operator inputs, but the robot may exceed maximum speed limits and operate unsafely
Solution Approach 1:
The control device dynamically adjusts the pulse number based on robot state. When the robot is stationary or moving slowly, larger pulse numbers are permitted for quick positioning. When the robot approaches maximum speed, the pulse number is automatically limited to prevent unsafe operation. This dynamic adaptation resolves the contradiction between quick response and safe operation.
Solution Approach 2:
The control device continuously monitors the robot's current speed and position, and uses this feedback to determine the appropriate pulse number limit. The pulse number limiting unit adjusts the maximum allowable pulse number based on real-time robot state, ensuring that operator inputs produce safe acceleration and speed changes while maintaining responsive control.
2Reliability
If the pulse number is limited to a predetermined threshold, then the robot operates within safe speed limits, but the robot cannot quickly accelerate when the operator makes large input movements
Solution Approach 1:
The system uses dynamic pulse number limiting that adapts to the robot's current state. When the robot is already moving or approaching speed limits, the pulse number is limited to ensure safe acceleration. When the robot is stationary or moving slowly, the pulse number limit is relaxed to allow quick acceleration in response to operator inputs, thus resolving the contradiction between safety and acceleration speed.
Solution Approach 2:
The control device changes the pulse number parameter based on the robot's current speed and position. The pulse number limiting unit adjusts this parameter dynamically: permitting larger pulse numbers when the robot can safely accelerate, and imposing stricter limits when the robot is near maximum speed. This parameter adaptation resolves the contradiction between safe operation and quick acceleration.
3Productivity
If large pulse numbers are permitted, then the robot can cover large distances quickly, but the acceleration and deceleration may become abrupt and unsafe
Solution Approach 1:
The control device uses feedback from the robot's current speed and position to determine appropriate pulse number limits. This feedback mechanism ensures that large pulse numbers are only permitted when the robot can safely execute the movement with smooth acceleration and deceleration. When the robot state indicates potential for abrupt movements, the pulse number is automatically limited, thus maintaining both productivity and smooth control.
Solution Approach 2:
The pulse number parameter is dynamically adjusted based on robot state to balance productivity and smooth control. When the robot is stationary or moving slowly, larger pulse numbers are permitted to improve operation efficiency. When the robot is moving at higher speeds or making rapid directional changes, the pulse number is reduced to ensure smooth acceleration and deceleration, preventing abrupt and unsafe movements.
Data Source
AI summary
A robot control device includes manual pulse generation units that generate pulses having a pulse number depending on an operation amount of an operator, command signal calculation units that calculate an operation command signal to a robot based on a pulse number to be input, and a pulse number limiting unit that limits, to a threshold, the pulse number to be input into the command signal calculation units, in a case or cases where the pulse number generated by the manual pulse generation units is larger than the predetermined threshold, where, in a case or cases where the pulse number generated by the manual pulse generation units is equal to or less than the threshold, the pulse number is output as it is.