Robotic Arm Velocity Control for Precise Force and Safe Handling
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Solution Overview
Problem
Current robotic systems using position control lack direct control over velocity and acceleration, leading to potential damage during movement and difficulties in applying precise force, especially when handling objects with varying positions and dynamics.
Innovation Solution
Implementing a robotic control system that uses velocity control to manage the movement of robotic arms by determining and issuing commands for velocity and torque at each joint, allowing direct control over acceleration and force application through a model-based approach that simulates the robot's operation and adapts to changing environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If position control is used to move the robotic end effector to target positions, then the robot can be controlled to reach desired locations, but the robot applies higher torque and moves more quickly between points that are further away, resulting in potential damage to grasped objects
Solution Approach 1:
The patent transitions from static position control to dynamic velocity control, where the robot's speed and acceleration are continuously adjusted based on real-time conditions. The velocity control system allows dynamic modulation of motion parameters to prevent damage while maintaining productivity, directly addressing the contradiction between movement speed and object safety.
Solution Approach 2:
The patent changes the control parameter from position to velocity, enabling direct control over the robot's speed and acceleration profiles. This parameter change allows the system to optimize motion parameters in real-time, controlling the rate of torque application and movement speed to prevent object damage while maintaining efficient operation.
2Ease of operation
If the trajectory is broken down into smaller trajectories to control velocity, then more granular control over velocity and acceleration is achieved, but complexity increases and throughput decreases
Solution Approach 1:
The patent replaces the mechanical approach of trajectory segmentation with a control system substitution. Instead of dividing the physical trajectory into multiple segments, the system uses velocity control commands that directly regulate motion parameters along a continuous trajectory, simplifying the control architecture while maintaining precise velocity and acceleration control.
Solution Approach 2:
By changing the control parameter from position to velocity, the system achieves granular control over motion dynamics without needing to segment the trajectory. The velocity control approach allows continuous adjustment of speed and acceleration along the entire trajectory, reducing complexity while improving operational precision.
3Force
If position control is used to apply force to a stationary object by assigning a destination position the object cannot reach, then the robot applies force proportional to the position error, but it is difficult to control the amount of force applied and errors occur due to inaccurate position information
Solution Approach 1:
The patent changes the control parameter from position error to velocity control for force application. Instead of relying on position feedback that is susceptible to accuracy errors, the system uses velocity control to directly regulate the force applied to stationary objects, achieving more precise and reliable force control independent of position measurement accuracy.
Solution Approach 2:
The patent introduces velocity as an intermediary control parameter between the control system and the force applied to objects. This intermediary allows the system to achieve precise force control through velocity regulation, decoupling the force control from direct position feedback and reducing the impact of position measurement errors.
4Productivity
If higher torque is applied to drive joints further from the ending position, then the robot moves more quickly over longer trajectories, but acceleration is quicker at the start and end which can damage grasped items
Solution Approach 1:
The patent implements dynamic velocity control that continuously adjusts the robot's speed and acceleration profiles during motion. This dynamic control allows the system to optimize productivity by maintaining higher speeds over longer trajectories while simultaneously preventing damage through controlled acceleration rates, resolving the contradiction between throughput and object safety.
Solution Approach 2:
By changing from position control to velocity control, the system gains direct control over acceleration and speed parameters. This parameter change enables the optimization of motion profiles to maximize productivity while controlling acceleration rates to prevent object damage, allowing simultaneous achievement of high throughput and safe operation.
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.