Robot Speed Damping Control Near Motion Limits
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Solution Overview
Problem
Existing robot control systems fail to effectively manage speed limitations and damping near predetermined limits, leading to inefficient movement and potential collisions during compliance and manual guidance.
Innovation Solution
A method that determines the actual and target speeds of a robot based on predetermined maximum and minimum speeds, and distances to limits, using a damping drive variable to control the robot's movement, ensuring safe and efficient operation by adjusting speed and damping according to proximity to limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot operates with high speed to improve productivity, then productivity increases, but the risk of collision and overshoot near limits increases
Solution Approach 1:
The control system dynamically adjusts the damping drive variable based on the robot's current state and proximity to limits. The damping coefficient is not fixed but varies continuously according to the distance to predetermined limits, allowing high speed operation when safe and automatic damping increase when approaching limits, thus resolving the contradiction between productivity and reliability
Solution Approach 2:
The system continuously monitors the robot's position and calculates the distance to predetermined limits in real-time. This feedback mechanism allows the control system to adapt the damping drive variable dynamically, ensuring that speed can be high when far from limits (improving productivity) while automatically increasing damping when approaching limits (improving reliability and collision avoidance)
2Loss of time
If the robot moves quickly to reduce cycle time, then cycle time decreases, but movement precision and control accuracy deteriorate
Solution Approach 1:
The damping drive variable is dynamically adjusted based on the difference between target speed and actual speed, as well as the distance to limits. This dynamic adjustment allows the system to maintain high speeds for overall efficiency while automatically increasing damping when speed corrections are needed, thus maintaining precision without sacrificing overall cycle time
3Reliability
If damping is increased near limits to prevent overshoot, then reliability improves, but movement efficiency and productivity decrease
Solution Approach 1:
The damping drive variable is applied locally and selectively - it is increased only in the specific situation when the robot is approaching predetermined limits or when speed correction is needed. When the robot operates in safe zones far from limits, the damping is minimal or zero, allowing full productivity. This localized application of damping resolves the contradiction by applying strong damping only where and when needed for reliability, while maintaining high efficiency elsewhere
Data Source
Figure 1~5
AI summary
A method according to the invention for controlling a robot (1) comprises the steps: determining (S30) an actual speed (q̇act) of the robot; determining (S20) a setpoint speed (q̇soll); determining (S30) a damping drive amount (τd) based on a difference between the target speed and the actual speed; and controlling (S40) a drive arrangement with at least one drive (A1,..., A6) of the robot on the basis of the damping drive variable; the target speed being determined on the basis of a specified maximum speed (qmax), a specified minimum speed (qmin) and/or a distance (dist) of the robot from at least one specified limit (qmax, qmin).