Robot Motion Simulation Control for Speed Limiting Near Safety Zones
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Solution Overview
Problem
Existing robot control devices face challenges in synchronizing the operation of virtual and real robots, leading to potential collisions due to discrepancies in interrupt intervals and operating speeds, especially when high-speed operations are involved.
Innovation Solution
A robot control device that simulates the operation of a virtual robot on a virtual space, setting specific regions to limit the operating speed or stop the robot when it enters certain areas, and displays semi-transparent objects and marks to facilitate visualization and collision avoidance, allowing for precise control and safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot operates at high speed, then productivity is improved, but collision risk with safety fence increases
Solution Approach 1:
The system performs preliminary track calculation and predicts future robot positions before actual movement occurs. By calculating the track in advance and predicting where the robot will be, the system can identify potential safety fence intrusions before they happen, allowing the robot to slow down or stop preemptively rather than reacting after collision risk materializes.
Solution Approach 2:
The robot's speed is made dynamic rather than fixed. The control device adjusts the robot's operating speed in real-time based on predicted track calculations and safety fence proximity. When the predicted position shows approaching the safety fence, the system automatically reduces speed or stops, enabling high-speed operation during safe zones while maintaining safety near boundaries.
2Ease of operation
If interrupt interval changes due to other interrupt processing, then system responsiveness is improved, but synchronization between virtual and real robot deteriorates
Solution Approach 1:
The simulation device continuously monitors and measures the actual interrupt interval, comparing it against the predetermined interrupt interval. This feedback mechanism detects timing deviations caused by other interrupt processing and uses the measured actual interval to adjust subsequent track calculations, ensuring the virtual robot's movement remains synchronized with the real robot despite variable interrupt timing.
Solution Approach 2:
The system dynamically adjusts the track calculation parameters based on the measured actual interrupt interval. When interrupt timing varies, the track calculation process adapts by using the actual elapsed time rather than assuming a fixed interval, allowing the simulation to accurately reflect real robot behavior under varying system load conditions.
Data Source
AI summary
A robot control device according to an aspect of the invention is a robot control device that controls a robot on the basis of a simulation result of a simulation device that performs a simulation of operation of a virtual robot on a virtual space. In the simulation, a first region and a second region located on an inside of the first region can be set on the virtual space. In the case where the virtual robot operates, when a specific portion of the virtual robot intrudes into the first region, operating speed of the virtual robot is limited. When the specific portion of the virtual robot intrudes into the second region, the operation of the virtual robot stops or the virtual robot retracts from the second region.