Robot Velocity Control for Precise Force and Item Handling
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Solution Overview
Problem
Traditional robotic systems controlled by position often result in higher torque and quicker acceleration, leading to potential damage when moving items, and struggle to precisely control velocity and force, especially when dealing with dynamic environments and objects in motion.
Innovation Solution
Implementing a velocity control-based robotic system that directly manages the velocity and acceleration of robotic joints and end effectors, using models and sensor data to adjust commands in real-time, allowing for precise control and adaptation to changing conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If position control is used to move the robotic end effector to a destination position, then the robot can reach the target location, but the robot applies higher torque and accelerates more quickly which may damage the grasped item
Solution Approach 1:
The patent changes the control parameter from position to velocity. By directly controlling velocity commands to the robot joints, the system can precisely limit the speed and acceleration of the end effector, preventing damage to grasped items while maintaining movement efficiency. This is achieved by issuing velocity commands that are constrained by maximum velocity limits and acceleration profiles.
Solution Approach 2:
The patent implements dynamic velocity control where the robot's velocity commands are continuously adjusted based on the current state and desired trajectory. The system dynamically calculates velocity commands that respect acceleration limits and maximum velocity constraints, enabling smooth and controlled motion that prevents item damage while maintaining productivity.
2Speed
If the trajectory is broken down into smaller trajectories to control velocity, then velocity control is achieved, but complexity increases and throughput decreases
Solution Approach 1:
The patent extracts the velocity control function from the position control framework. Instead of using position control with trajectory segmentation, the system directly issues velocity commands to the robot joints. This eliminates the need for complex trajectory breakdown while maintaining precise velocity control through direct velocity command issuance and constraint enforcement.
Solution Approach 2:
The patent inverts the traditional control approach by controlling velocity directly rather than controlling position and deriving velocity as a secondary effect. This inversion simplifies the control architecture by eliminating the need for position-based trajectory planning and segmentation, allowing direct velocity command issuance with built-in acceleration and velocity limits.
3Force
If position control is used to apply force to a stationary object, then force can be applied by positioning the end effector, but precise force control is difficult and errors occur due to position inaccuracies
Solution Approach 1:
The patent changes the control parameter from position to velocity for force application tasks. By controlling velocity, the system can precisely regulate the rate at which the end effector moves into contact with and presses against a stationary object. This velocity control approach provides direct and accurate force control without relying on position measurement precision, eliminating errors associated with position-based force control.
Data Source
AI summary
A velocity control-based robotic system is disclosed. In various embodiments, sensor data is received from one or more sensors deployed in a physical space in which a robot is located. A processor is used to determine based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot. A command to implement the velocity-based trajectory is sent to the robot.