Shared Robot Workspace Timing to Avoid Boundary Braking
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Solution Overview
Problem
Existing methods for controlling manipulators in shared workspaces lead to undesirable idle times, energy inefficiencies, and increased load due to the need for braking and acceleration when checking for workspace occupancy, which can result in collisions and suboptimal productivity.
Innovation Solution
A method that provides real-time information about the state and remaining occupancy of a second manipulator in the workspace, allowing the first manipulator to adjust its movement profile to avoid stopping at the workspace boundary, thereby optimizing cycle times and reducing energy consumption by adjusting speed and path planning based on the remaining dwell time of the second manipulator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the manipulator brakes immediately before reaching the workspace boundary to check for occupancy, then collision avoidance is ensured, but cycle time increases and productivity decreases
Solution Approach 1:
The system performs preliminary actions by having the second manipulator transmit its movement profile and position data to the first manipulator before the first manipulator reaches the workspace boundary. This allows the first manipulator to plan its entry timing in advance, avoiding last-minute braking and waiting, thus reducing cycle time while maintaining collision avoidance through predictive timing based on the second manipulator's known trajectory.
2Reliability
If the manipulator brakes and accelerates repeatedly at the workspace boundary, then workspace occupancy checking is performed, but energy consumption increases
Solution Approach 1:
The system implements feedback by continuously monitoring the second manipulator's real-time position and movement state, and using this information to dynamically adjust the first manipulator's movement profile. The first manipulator receives feedback about the second manipulator's remaining time in the workspace and optimizes its own trajectory accordingly, avoiding unnecessary braking and acceleration cycles, thus reducing energy consumption while maintaining safe workspace occupancy checking.
3Reliability
If the manipulator waits at the workspace boundary for release, then collision prevention is achieved, but idle time increases and productivity decreases
Solution Approach 1:
The system performs preliminary actions by calculating the remaining time the second manipulator will occupy the workspace based on its current position and movement profile, before the first manipulator arrives at the boundary. This allows the first manipulator to time its entry precisely when the workspace becomes free, eliminating idle waiting time while ensuring collision prevention through predictive timing based on the second manipulator's known trajectory.
Solution Approach 2:
The system applies dynamics by continuously adapting the first manipulator's movement profile based on real-time feedback about the second manipulator's position and speed. Rather than using static waiting protocols, the first manipulator dynamically adjusts its velocity and timing to synchronize its workspace entry with the exact moment the second manipulator leaves, minimizing idle time while maintaining collision prevention.
4Reliability
If the manipulator increases load on the manipulator through repeated braking and acceleration, then workspace occupancy monitoring is performed, but manipulator wear and material fatigue increase
Solution Approach 1:
The system implements feedback by using real-time position and movement data from the second manipulator to continuously optimize the first manipulator's trajectory. This feedback mechanism enables smooth, continuous motion planning that avoids abrupt braking and acceleration events, reducing mechanical stress and material fatigue on the manipulator components while maintaining accurate workspace occupancy monitoring through predictive timing.
Data Source
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Figure 3
AI summary
The invention relates to a method and a system for controlling a robot that shares a workspace with another robot at different times. Based on a certain remaining time that the work area is still occupied, the cycle time-optimized path planning of a robot is adapted in order to prevent braking at the work area limit and waiting for release.