Cooperative Robotic Arm Homing with Projection-Based Collision Avoidance
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Solution Overview
Problem
In cooperative robotic arm systems, collisions can occur during the homing process when one robotic arm malfunctions or experiences unexpected movement, leading to potential damage due to the lack of timely response from coordinated arms.
Innovation Solution
A method where the controller determines whether projection vectors of working vectors on coordinate axes overlap, and if they do not, controls one robotic arm to move along a reset path that avoids the working point of the stopped arm, ensuring safe movement and preventing collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robotic arms operate cooperatively in production lines, then productivity is improved, but the risk of collision during homing process increases when one arm malfunctions
Solution Approach 1:
The controller performs preliminary detection of projection vector overlap between robotic arms before initiating homing movement. By checking whether the projection vectors of working vectors on coordinate axes overlap in advance, the system identifies potential collision risks before they occur, allowing for preventive path adjustment or stopping decisions to be made ahead of time
Solution Approach 2:
The system continuously monitors the positions and working vectors of robotic arms during operation. The controller receives real-time feedback on arm positions, detects abnormalities such as unexpected movements or malfunctions, and dynamically adjusts homing paths based on this feedback to prevent collisions
2Loss of time
If a robotic arm performs homing movement quickly, then response time is reduced, but the likelihood of collision with abnormal arms increases without timely detection
Solution Approach 1:
Before executing rapid homing movements, the controller performs preliminary detection by calculating projection vectors of robotic arms on coordinate axes. This advance check identifies whether arms are positioned in a way that could cause collision during homing, allowing the system to adjust paths or halt operations before fast movement begins
Solution Approach 2:
The system applies preliminary anti-action by detecting abnormal positions or unexpected movements of robotic arms before homing begins. When projection vectors indicate potential overlap or when abnormalities are detected, the controller takes countermeasures such as adjusting homing paths or stopping operations to prevent the harmful effect of collision
Data Source
AI summary
A cooperative robotic arm system includes a first robotic arm, a second robotic arm and a controller. The first robotic arm has first working vector. The second robotic arm has second working vector. The controller is configured to: (1) control the first robotic arm and the second robotic arm to stop moving; (2) determine whether a first projection vector of the first working vector projected on a first coordinate axis and a second working vector projected on the first coordinate axis overlaps; (3) when they overlap, determine whether a third projection vector of the first working vector projected on a second coordinate axis and a fourth projection vector of the second working vector projected on the second coordinate axis overlap; and, (4). when they do no overlap, control a controlled-to-moved one of the first robotic arm and the second robotic arm to move along a reset path.