Robot Positioning with Torque and Obstacle Maps for Extended Life
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Solution Overview
Problem
Existing autonomous proximity control devices for robots do not effectively account for the influence of load on robot components and obstacles during movement, leading to potential interference and reduced lifetime.
Innovation Solution
A robot system with integrated load sensors to detect torque on operating shafts, generating maps to optimize relative positions and avoid obstacles, thereby minimizing torque loads and extending robot lifetime.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot moves to reach the workpiece, then the workpiece can be handled, but the robot may collide with obstacles or operate under excessive load
Solution Approach 1:
The control device performs preliminary actions by generating a first map indicating obstacle arrangements and a second map indicating torque load distributions before the robot executes movement. This advance planning allows the robot to select optimal paths that avoid both physical obstacles and high-load zones, preventing collisions and excessive stress on robot components before they occur.
Solution Approach 2:
The system creates simplified representations (maps) of the physical environment and robot characteristics. The first map copies spatial obstacle information, and the second map copies torque load characteristics across different positions. These copied representations enable the control device to simulate and evaluate multiple movement paths virtually before executing the optimal path, improving productivity while protecting robot lifetime.
2Device complexity
If the robot operates without load consideration, then movement is simpler, but torque loads increase reducing robot lifetime
Solution Approach 1:
The control device performs preliminary actions by generating a first map indicating obstacle arrangements and a second map indicating torque load distributions before the robot executes movement. This advance planning allows the robot to select optimal paths that avoid both physical obstacles and high-load zones, preventing collisions and excessive stress on robot components before they occur.
Solution Approach 2:
The system creates simplified representations (maps) of the physical environment and robot characteristics. The first map copies spatial obstacle information, and the second map copies torque load characteristics across different positions. These copied representations enable the control device to simulate and evaluate multiple movement paths virtually before executing the optimal path, improving productivity while protecting robot lifetime.
3Reliability
If the robot avoids all obstacles, then collision is prevented, but movement time increases
Solution Approach 1:
The control device performs preliminary actions by generating a first map indicating obstacle arrangements and a second map indicating torque load distributions before the robot executes movement. This advance planning allows the robot to select optimal paths that avoid both physical obstacles and high-load zones, preventing collisions and excessive stress on robot components before they occur.
Solution Approach 2:
The path planning system dynamically adapts to the specific spatial arrangement of obstacles and workpieces by generating customized movement paths based on the first map. Rather than following fixed conservative routes, the robot can efficiently navigate around obstacles by calculating optimal paths that minimize both collision risk and movement time.
Data Source
AI summary
A robot system includes: a robot where a hand for handling a workpiece is mounted; a movement mechanism to change the relative positions of the robot and workpiece; a workpiece sensor to detect the position of the workpiece; an obstacle sensor to detect the position of a surrounding obstacle; and a control device that controls the robot and the movement mechanism. The robot includes a load sensor to detect a load acting on an operating axis of the robot. The control device generates a first map of arrangements of the workpiece and the obstacle from the detected position of the workpiece and position of the obstacle, generates a second map of a degree of influence on the lifetime of the robot for each relative positioning by the movement mechanism, and determines the relative positioning by the movement mechanism on the basis of the generated first map and second map.