Robotic Load Handling Motion Profiles for Oscillation Control
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Solution Overview
Problem
Load handling devices in storage systems experience instability and oscillation when moving on tracks, particularly during acceleration and deceleration, which can lead to damage of items being transported, such as grocery items.
Innovation Solution
A motion control profile generator is used to create a time-optimal trajectory for the load handling device, incorporating jerk constraints to ensure smooth movement by controlling acceleration, velocity, and jerk references, preventing oscillation and ensuring stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the load handling device moves quickly on the grid structure, then productivity is improved, but stability deteriorates causing oscillation and item damage
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting motion control parameters (acceleration, velocity, jerk) based on the device's operational state. The motion control profile generator creates time-optimal trajectories that modify these parameters continuously to maintain stability while achieving high productivity, resolving the contradiction between fast movement and stability.
2Loss of time
If the acceleration and deceleration rates are increased, then time efficiency is improved, but harmful factors increase causing item damage
Solution Approach 1:
The patent implements beforehand cushioning by pre-calculating and applying jerk constraints in the motion control profile. These constraints act as a cushion against sudden changes in acceleration, preventing item damage while maintaining time efficiency. The system prepares compensatory measures in advance by shaping the acceleration profile to avoid harmful shocks to transported items.
3Stability of the object's composition
If a time-optimal trajectory is generated with jerk constraints, then stability is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex mechanical stabilization mechanisms with a software-based motion control profile generator. Instead of adding physical dampers or mechanical constraints, the system uses computational algorithms to generate jerk-constrained trajectories, achieving stability through control theory rather than mechanical means, thereby reducing overall device complexity.
Data Source
AI summary
A method for generating a motion control profile having an acceleration and a deceleration phase to control motion of a load handling device on a grid structure including a plurality of tracks arranged in a grid pattern. The motion control profile is generated by receiving a plurality of constraints for the motion control profile, including a plurality of jerk constraints; selectively applying the jerk constraints for controlling an acceleration reference and a velocity reference in the acceleration phase; and selectively applying the jerk constraints for controlling a deceleration reference and a velocity reference in the deceleration phase, such that a magnitude of the acceleration reference and the velocity reference is substantially zero at a second position of the load handling device.