Slave Arm Speed-Threshold Control for Safe Motion Correction
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Solution Overview
Problem
During automatic operation, correcting the robot's operation at high speeds can result in sharp corrections, causing the robot to operate in unexpected directions, which is undesirable.
Innovation Solution
A robot system with a manipulator and a control device that prevents operation corrections when the slave arm is operating at speeds equal to or higher than a preset threshold, using a control device to manage the slave arm's operation and output correction preventing information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If operational correction is allowed during automatic operation of the slave arm, then the operation can be adjusted to fix faults in teaching information, but the robot may operate sharply in unexpected directions when operating at high speed
Solution Approach 1:
The control device changes the parameter of correction acceptance based on the operating speed parameter. When the slave arm operates below a predetermined speed threshold, correction operations are accepted; when the speed exceeds the threshold, correction operations are rejected. This dynamic parameter adjustment resolves the contradiction by adapting the system's correction acceptance behavior to the current operating conditions, ensuring safety at high speeds while maintaining flexibility at lower speeds.
2Productivity
If the robot operates at high speed during automatic operation, then productivity is improved, but correction of operation becomes unsafe and may cause unexpected movements
Solution Approach 1:
The control device acts as an intermediary between the manipulator (correction input) and the slave arm (execution output). It monitors the operating speed as an intermediate parameter and uses this information to mediate whether correction commands from the manipulator are transmitted to the slave arm. This intermediary function filters out potentially harmful corrections at high speeds while allowing beneficial corrections at safe speeds, thus resolving the contradiction between productivity and safety.
Data Source
AI summary
A robot system which includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm having a plurality of joints, and a control device configured to control operation of the slave arm. The control device is configured, while the slave arm is operating at a speed equal to or higher than a first given the threshold, even when an operational instruction value for correcting the operation of the slave arm is inputted from the manipulator during an automatic operation of the slave arm, to prevent the correction of the operation of the slave arm.