Adaptive Robot Stop Control for Zone Interference
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Solution Overview
Problem
Existing robot safety systems impose a significant burden on the robot mechanism when emergency stops are triggered due to interference with motion or limiting zones, necessitating a more adaptive and efficient stop control mechanism.
Innovation Solution
A robot controller that includes a zone setting unit, position calculation unit, interference detection unit, operating state detection unit, and stop unit to adaptively apply stop control based on the detected operating state when interference occurs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If emergency stop control is applied when interference with motion zone or limiting zone is detected, then operator safety is ensured, but burden on robot mechanism increases
Solution Approach 1:
The patent applies dynamics by making the stop control adaptive rather than fixed. The controller dynamically adjusts the stop control based on the detected operating state (operation mode and load) when interference is detected. This allows the system to apply appropriate stop control (immediate stop, deceleration stop, or maintenance of current state) rather than always applying maximum emergency stop, thereby ensuring safety while reducing unnecessary burden on the robot mechanism.
2Stability of the object's composition
If fixed stop control is applied regardless of operating state, then safety response is consistent, but adaptability to different operation conditions is reduced
Solution Approach 1:
The patent applies local quality by making the stop control characteristics dependent on the local operating conditions. Different stop controls (immediate stop, deceleration stop, or maintenance of current state) are applied based on the specific operation mode (automatic operation, semi-automatic operation, manual operation) and load state detected at the moment of interference. This allows the safety response to be tailored to the local operating context rather than applying a uniform stop control.
Solution Approach 2:
The patent applies parameter changes by varying the stop control parameters (stop timing, deceleration rate, final position) based on the detected operating state. The controller changes the stop control parameters according to the operation mode and load conditions, enabling adaptive stop control that maintains safety consistency while adapting to different operational scenarios.
Data Source
AI summary
Provided is a robot control device which controls a robot, the robot control device comprising: an area setting unit for setting an operation area in which the robot can operate or a restricted area that the robot cannot enter; a position calculation unit that calculates the position of the robot; an interference detection unit that detects the interference between the robot and the outer surface of the operation area, or the restricted area, on the basis of the calculated position of the robot; an operation state detection unit that detects the operation state of the robot from when the interference is detected; and a stop unit that stops the robot through stop control according to the detected operation state.