Coordinated Robot Trajectory Control for Disturbance Avoidance
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Solution Overview
Problem
In cooperative robot operations, there is a need to prevent failures that occur when a robot's operation is suddenly changed due to disturbances, especially in environments without safety fences where workers and robots interact.
Innovation Solution
A robot system comprising a first and second robot, each with a control device that includes a trajectory planning unit, a control unit, a collision prediction unit, and an interlocking stop unit. When a collision with a disturbance is predicted, the system generates a disturbance avoidance trajectory and transmits it to the other robot's interlocking stop unit, enabling both robots to adjust their operations and avoid the disturbance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robot performs sudden trajectory change or emergency stop to avoid collision with disturbance, then safety is improved, but coordination with other robots is lost causing failures
Solution Approach 1:
The system performs preliminary action by predicting potential collisions before they occur and proactively notifying other robots of intended trajectory changes. This allows other robots to prepare for coordination adjustments, preventing failures that would otherwise occur during emergency responses to disturbances.
Solution Approach 2:
The system implements feedback by continuously monitoring sensor information, detecting disturbances, and communicating trajectory change intentions to other robots. This closed-loop communication ensures that all robots remain coordinated even when one robot needs to make sudden safety-related trajectory adjustments.
2Stability of the object's composition
If a robot ignores disturbance and continues original trajectory, then coordination with other robots is maintained, but collision with disturbance occurs
Solution Approach 1:
The system uses an intermediary communication mechanism where the first robot control device notifies other robots of its intended trajectory changes before executing them. This intermediary notification allows the robot to prioritize collision avoidance while maintaining coordination through proactive information sharing, rather than forcing other robots to react to sudden unilateral changes.
3Object-affected harmful factors
If multiple robots independently respond to disturbance, then each robot avoids collision, but coordination failures occur causing dropped objects or damage
Solution Approach 1:
By notifying other robots of intended trajectory changes before executing them, the system allows all robots to prepare coordinated responses in advance. This prevents the operational instability that would result from independent emergency reactions, ensuring that objects remain securely held even when disturbance avoidance is required.
Data Source
AI summary
A robot system including a first robot, a second robot, a first robot control device for controlling the first robot, a second robot control device for controlling the second robot, and a sensor, the first and second robots carrying out a coordinated operation, wherein: the first robot control device includes a first trajectory planning unit for planning the action of the first robot, a first control unit for executing the planned action of the first robot, a first collision prediction unit for predicting a collision between the first or second robot and an external disturbance on the basis of information from the sensor, and a first interlocking-preventing unit; the second robot control device includes a second trajectory planning unit for planning the action of the second robot, a second control unit for executing the planned action of the second robot, a second collision prediction unit for predicting a collision between the first or second robot and an external disturbance on the basis of information from the sensor, and a second interlocking-preventing unit; the first interlocking-preventing unit generates an external-disturbance-avoiding trajectory for the first robot and transmits the external-disturbance-avoiding trajectory to the second interlocking-preventing unit when the first collision prediction unit predicts a collision with the external disturbance; and the first and second robots carry out actions to avoid the external disturbance. This makes it possible to prevent the occurrence of faults if the action of a robot is suddenly changed due to an external disturbance or the like when a plurality of robots carry out a coordinated operation.