Robot Simulation Apparatus Emergency Stop Swept Space
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Solution Overview
Problem
Existing robot simulation methods do not account for the deviation from the normal path caused by emergency stops, leading to inadequate sizing of the working area and potential collisions with fences, as they only consider the swept space during normal operation.
Innovation Solution
A simulation apparatus that estimates the stop position and calculates the swept space by acquiring the weight, position, and speed of the robot's drive axes, and accounts for the variation in these parameters during emergency stops, using a variation amount acquisition part to determine the relationship between the weight, speed, and stop position, and a swept space calculation part to compute the three-dimensional swept space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the fence is located sufficiently apart from the robot system to prevent contact during normal operation, then the robot system can operate safely, but the working area of the robot system becomes excessively large
Solution Approach 1:
The simulation apparatus calculates the swept space including emergency stop deviation beforehand, allowing the fence to be positioned precisely at the boundary of the actual swept space rather than using excessive safety margins. This preliminary calculation enables optimal fence placement that prevents contact during both normal operation and emergency stops while minimizing the working area.
2Area of stationary object
If the working area of the robot system is decreased to optimize space utilization, then the robot system becomes more compact, but the robot may contact the fence when performing emergency stops
Solution Approach 1:
The simulation apparatus uses feedback from the robot's operational parameters (weight, position, speed in each drive axis) to calculate the swept space including emergency stop deviation. This feedback mechanism allows the fence position to be determined based on actual robot dynamics rather than conservative estimates, enabling compact workspace design that maintains safety during emergency stops.
3Area of stationary object
If the fence is positioned close to the robot to maximize working area, then space utilization is improved, but the robot may contact the fence during normal operation
Solution Approach 1:
The simulation apparatus performs preliminary calculation of the swept space including emergency stop deviation, enabling the fence to be positioned precisely at the boundary of the actual swept space. This preliminary action ensures the fence is close enough to maximize working area while far enough to prevent contact during both normal operation and emergency stops.
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
This approach allows for accurate determination of the swept space during emergency stops, enabling the proper sizing of the working area and preventing collisions by considering the additional space the robot occupies after an emergency stop, thus ensuring a safe and appropriate working environment.
Implementation Method 1
The motor is provided with a brake so as to prevent rotation of the output shaft of the motor
Implementation Method 2
the robot is further moved from the position and the posture at which control for emergency stop is carried out by inertia of the robot
Data Source
AI summary
A simulation apparatus acquires a position and an operating speed in each drive axis of the robot at a set point set for each minute section of a motion path of the robot when an operation program of a robot is executed. The simulation apparatus comprises a stop position estimation part that estimates a stop position where the robot is stopped after moving by inertia in each dive axis, based on the position in each drive axis of the robot, the operating speed in each drive axis, and the weight of the work tool, when an emergency stop of the robot is performed at the set point. The simulation apparatus comprises a swept space calculation part that calculates a swept space of three-dimensional models of the robot and the work tool based on the stop position.