Robotic Arm Motion Control Using Payload Mass Sensing
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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 momentum issues during pick and place operations.
Innovation Solution
A robotic system equipped with a processor and sensors that calculate the mass of an article based on force and acceleration inputs, allowing for real-time adjustment of the robotic arm's speed and acceleration to ensure safe and efficient transport of articles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robotic arm moves at high speed to improve productivity, then the productivity increases, but the probability of dropping the product increases due to high momentum
Solution Approach 1:
The robotic system dynamically adjusts its movement parameters (speed and acceleration) based on the mass of the held object. The controller receives mass information from a scale and modifies trajectory parameters in real-time, allowing the robot to move faster with lighter objects and slower with heavier objects, thus resolving the contradiction between productivity and reliability
Solution Approach 2:
The system changes the movement parameters (speed and acceleration) of the robotic arm based on the mass parameter of the held object. By adjusting these parameters according to the object's mass, the system achieves both high productivity for light objects and high reliability for heavy objects
2Loss of time
If the robotic arm uses high acceleration to reduce handling time, then the handling time decreases, but the product may be dropped due to excessive momentum
Solution Approach 1:
The controller dynamically adjusts acceleration parameters based on the mass of the held object. For lighter objects, higher acceleration is permitted to reduce handling time, while for heavier objects, acceleration is reduced to prevent dropping, thus resolving the time-reliability contradiction
Solution Approach 2:
The system modifies the acceleration parameter of the robotic arm according to the mass parameter of the object being handled, enabling optimal handling time for each object while maintaining reliability
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 reduces the likelihood of dropping articles by dynamically adjusting the robotic arm's movement based on the calculated mass of the article, ensuring smooth and controlled transport, and reducing overall handling time and costs.
Implementation Method 1
a first sensor attached to the end effector, wherein the first sensor is a force sensor
Implementation Method 2
calculate a mass of the article based at least on the first input... based on the calculated mass of the article
Data Source
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.