Robotic Arm Motion Control Using Load-Based Speed Adjustment
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Solution Overview
Problem
Existing robotic systems face challenges in controlling the speed and acceleration of robotic arms when handling heavy products, leading to a high probability of dropping the product due to robot momentum during pick and place operations.
Innovation Solution
A robotic system equipped with a processor and sensors, where a force sensor attached to the end effector provides input on the force required to lift an article, allowing the processor to calculate the mass of the article and adjust the speed and acceleration of the robotic arm accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the speed and acceleration of the robotic arm are increased to improve productivity, then the productivity is improved, but the probability of dropping the product increases due to high momentum when handling heavy objects
Solution Approach 1:
The robotic system dynamically adjusts the speed and acceleration parameters of the robotic arm based on the real-time mass of the handled object. The controller receives mass information from the scale, calculates appropriate motion parameters, and updates the robotic arm's movement profile accordingly. This dynamic adaptation allows the system to operate at high speeds for light objects while automatically reducing speed and acceleration for heavy objects, thus maintaining both high productivity and reliability across varying load conditions
Solution Approach 2:
The system implements a feedback loop where the mass of the handled object is continuously measured by the scale, fed back to the controller, and used to adjust the robotic arm's motion parameters. This closed-loop control ensures that the robotic arm operates with optimal speed and acceleration settings based on the actual load, preventing drops while maximizing productivity. The feedback mechanism enables real-time optimization of motion parameters without requiring manual intervention
2Reliability
If the speed and acceleration are reduced to handle heavy products safely, then the reliability is improved, but the productivity decreases
Solution Approach 1:
The system changes the motion parameters (speed and acceleration) of the robotic arm based on the mass parameter of the handled object. By automatically adjusting these parameters according to the measured mass, the system ensures safe handling of heavy objects while maintaining high productivity for lighter objects. This parameter adaptation eliminates the need for conservative speed limits that would reduce overall productivity
3Productivity
If the robotic arm moves at constant high speed, then the productivity is improved, but the mass-based speed control necessary for safe product handling cannot be implemented
Solution Approach 1:
The robotic system transitions from static, constant-speed operation to dynamic, mass-adaptive speed control. The controller continuously adjusts the robotic arm's speed and acceleration based on real-time mass measurements, enabling the system to adapt its motion profile to each specific load. This dynamic control strategy maintains high productivity by operating at optimal speeds for each mass condition rather than being constrained by a fixed speed limit
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively controls the movement of the robotic arm based on the calculated mass of the article, reducing the likelihood of dropping the product and ensuring smooth disposal at the destination, thereby enhancing the reliability and efficiency of the robotic system.
Implementation Method 1
a force sensor attached to the end effector and configured to provide an input corresponding to a value of force required to lift the article from the first location
Implementation Method 2
calculate a mass of the article based at least on the first input
Data Source
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AI summary
A robotic system includes a robotic arm having an end effector to move a plurality of articles from a first location to a second location, a first sensor attached to the end effector, and a processor communicably coupled to the first sensor. The processor is provided to actuate the end effector to lift an article from the first location, receive a first input from the first sensor in response to the end effector lifting the article from the first location, calculate a mass of the article based at least on the first input, and control a speed and acceleration of movement of the robotic arm towards the second location, based on the calculated mass of the article. Methods of controlling the robotic system are also disclosed.