Variable-Payload Robot Control for Dynamic Joint Capacity Use
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Solution Overview
Problem
Industrial robot arms are designed with fixed performance specifications across their work envelope, leading to underutilization and inefficiency due to variable performance capabilities.
Innovation Solution
Implementing a robotic control system that dynamically computes and utilizes the capabilities of individual robot components in real-time to adapt to varying payloads and operating conditions, allowing for intelligent and dynamic control of motion and force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robot arms are designed with fixed performance specifications across their work envelope, then reliability is improved, but hardware under-utilization occurs and productivity decreases
Solution Approach 1:
The patent implements dynamic performance specifications that adapt to the robot's current operating conditions, payload, and configuration. Instead of fixed constraints, the system continuously computes variable performance envelopes that match actual capabilities, enabling full hardware utilization while maintaining reliability through real-time validation.
Solution Approach 2:
The system changes performance parameters dynamically based on operating conditions. The control system adjusts speed, acceleration, and payload limits as functions of the robot's configuration and actual load, rather than enforcing static parameters. This allows the robot to operate at maximum capability in each state without compromising reliability.
2Reliability
If conservative design specifications are set as hard constraints, then reliability is improved, but device complexity increases and productivity decreases
Solution Approach 1:
The patent employs feedback mechanisms where the control system continuously monitors the robot's actual state, payload, and performance metrics. This real-time feedback enables dynamic adjustment of performance specifications, replacing complex pre-programmed constraints with adaptive control that maintains reliability through continuous validation against actual operating conditions.
Solution Approach 2:
The robot system performs self-assessment of its capabilities based on measured payload and configuration. The control system automatically computes appropriate performance envelopes without external intervention, eliminating the need for complex external constraint management while maintaining operational safety through intrinsic self-regulation.
3Ease of operation
If identical performance standards are enforced across the work envelope, then ease of operation is improved, but hardware under-utilization occurs and productivity decreases
Solution Approach 1:
The patent creates a universal performance specification framework that adapts to multiple operating conditions and task types. A single dynamic specification system serves all operations, automatically adjusting parameters based on actual needs rather than requiring separate constraint sets for different tasks. This maintains ease of operation while enabling full utilization of hardware capabilities across diverse applications.
Data Source
AI summary
A variable payload robot is disclosed. In various embodiments, a robot includes two or more joints, each actuated by an associated joint motor and each joint motor having a different capacity, the robot comprising an end effector configured to grasp an object. A processor coupled to the robot is configured to determine based at least in part on the respective capacities of at least a subset of the joint motors and a payload related attribute of the object a plan and trajectory to move the object from a source location to a destination location.