Robot Speed Profile Adjustment for Axle Load Limit Compliance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot movement technologies face issues with excessively high axle loads, speeds, and accelerations when following predetermined working paths, requiring laborious readjustment and often result in unnecessarily defensive initial parameter selections.
Innovation Solution
A method and controller that modify the planned speed profile before execution to prevent exceeding predetermined limits on speed, force, or acceleration by predicting and adjusting the profile based on kinematic and dynamic models, allowing for iterative refinement until the limits are adhered to.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a speed profile is planned with a predetermined profile parameter before traveling, then the robot can follow a predetermined working path, but excessively high axle loads, speeds, and accelerations can occur requiring laborious readjustment
Solution Approach 1:
The system performs preliminary prediction of axle loads, speeds, and accelerations using kinematic and dynamic models before the robot actually executes the speed profile. This allows potential violations of predetermined limits to be detected and corrected in advance, preventing the need for laborious readjustment during actual operation.
Solution Approach 2:
The system uses predicted values from kinematic and dynamic models to provide feedback on whether the planned speed profile will violate predetermined limits. Based on this feedback, the speed profile is automatically adjusted before execution, ensuring compliance with limits without requiring manual intervention.
2Productivity
If profile parameters are selected aggressively to improve productivity, then the robot can move faster along the working path, but the risk of exceeding speed, force, or acceleration limits increases
Solution Approach 1:
The system applies preliminary anti-action by predicting and preventing potential violations of speed, force, and acceleration limits before they occur. The speed profile is adjusted in advance based on predicted values, allowing aggressive profile parameters to be used while automatically preventing harmful effects of exceeding limits.
Solution Approach 2:
The system continuously monitors predicted axle loads, speeds, and accelerations against predetermined limits and provides feedback to adjust the speed profile accordingly. This feedback mechanism enables the use of aggressive profile parameters while automatically ensuring compliance with safety limits.
3Reliability
If the speed profile is modified to reduce axle loads and speeds, then compliance with predetermined limits is improved, but the robot's movement efficiency decreases
Solution Approach 1:
The system dynamically changes parameters of the speed profile based on predicted axle loads, speeds, and accelerations. By adjusting only the necessary parameters to meet predetermined limits while maintaining other performance characteristics, the system achieves limit compliance without significantly compromising movement efficiency.
Solution Approach 2:
The system applies partial modification to the speed profile, adjusting only the portions necessary to comply with predetermined limits while leaving the rest of the profile unchanged. This selective approach ensures limit compliance while minimizing the impact on overall movement efficiency.
Data Source
Figure 1~3
AI summary
In a method according to the invention for starting (S100) a robot (1) on a specified working path on the basis of a planned speed profile for the working path, the speed profile is planned (S10) using a specified profile parameter ($ACC1, $VEL1) and then modified (S85, S95) prior to starting on the working path if a specified speed, force, or acceleration limit is predicted to be exceeded with the speed profile planned using the specified profile parameter.