Shared Robot Controller for Fast Switching in Cooperative Handling
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Solution Overview
Problem
Existing techniques for controlling multiple robots performing operations on the same object in cooperation face challenges in accurately adjusting control timing with the required speed and accuracy, making it difficult to switch between independent and cooperative operation modes effectively.
Innovation Solution
A robot system comprising first-type and second-type robots with corresponding control parts, where the control part for the second-type robot is changed to the first-type control part to enable coordinated operation, allowing for seamless switching between independent and cooperative modes, and efficient operation by sharing degrees of freedom and reducing the number of axes required for each robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If control parts are connected by communication cable to enable multi-axis simultaneous control, then robots can perform cooperative operations, but control timing adjustment accuracy and speed deteriorate
Solution Approach 1:
The patent merges multiple control parts into a single control part that manages multiple robots. This consolidation eliminates communication cable delays between control parts, enabling precise control timing adjustment for cooperative operations while maintaining the ability to switch between independent and cooperative modes
2Adaptability or versatility
If control parts are connected by communication cable to enable multi-axis simultaneous control, then robots can perform cooperative operations, but control response speed deteriorates
Solution Approach 1:
The patent merges multiple control parts into a single control part that manages multiple robots. This consolidation eliminates communication cable delays between control parts, enabling precise control timing adjustment for cooperative operations while maintaining the ability to switch between independent and cooperative modes
3Ease of operation
If each robot has its own control part, then independent operation is simple, but switching to cooperative mode becomes complex
Solution Approach 1:
The patent designs a control part with multi-functionality that can operate in both independent and cooperative modes. The control part includes a generation unit that generates motion commands and a switching mechanism that enables seamless transition between control modes, simplifying the overall system while maintaining operational flexibility
4Adaptability or versatility
If multiple control parts are used for multiple robots, then each robot can be controlled independently, but the number of control axes increases
Solution Approach 1:
The patent merges multiple control parts into a single control part that manages multiple robots. This consolidation eliminates communication cable delays between control parts, enabling precise control timing adjustment for cooperative operations while maintaining the ability to switch between independent and cooperative modes
Solution Approach 2:
The control part is designed with multi-functionality to manage both independent and cooperative operations of multiple robots through a unified control architecture, reducing the total number of control axes required
Data Source
AI summary
It is possible simply switch between a mode of causing one robot to perform an operation independently from another robot and another mode of causing one robot and another robot to perform an operation in cooperation. A robot system includes a first-type robot, a first-type control part which takes charge of drive control of the first-type robot, a second-type robot, and a second-type control part which takes charge of drive control of the second-type robot. When the first-type robot and the second-type robot perform an operation on the same object in cooperation, a control part in charge of drive control of the second-type robot is changed from the second-type control part to the first-type control part, and the first-type control part takes charge of drive control of the first-type robot and the second-type robot.