Vertically Translatable Robot Control for Tilt-Free Heavy Lifting
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Solution Overview
Problem
Existing systems for controlling vertically translatable robots in storage automation face challenges in achieving efficient, stable, and high-speed vertical movement, particularly when handling heavy loads, while minimizing tilt and preventing slippage without requiring additional sensors.
Innovation Solution
A system and method utilizing control algorithms that include inverse-kinematic models and proprioception data from actuators to autonomously control the robot's vertical movement, maintaining compressive contact with helical racks and using a velocity-space grasp matrix to constrain rotations, thereby enabling smooth and reliable operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional control methods are used for vertically translatable robots, then the system structure is simpler, but the robot cannot achieve stable high-speed vertical movement with heavy loads and experiences tilt and slippage
Solution Approach 1:
The patent implements feedback control by using proprioception data from actuators to continuously monitor and adjust the robot's vertical movement. The control algorithms process real-time data about arm positions and actuator states to maintain compressive contact with helical racks and constrain rotations, ensuring stable high-speed operation with heavy loads while avoiding additional sensors.
2Reliability
If additional sensors are added to prevent tilt and slippage, then the vertical movement stability improves, but the hardware complexity and cost increase
Solution Approach 1:
The robot uses its existing actuator systems to serve dual purposes: both for movement and for sensing. By utilizing proprioception data already generated by the actuators during normal operation, the system achieves stable vertical movement without requiring additional sensors, thereby avoiding increased hardware complexity and cost.
3Productivity
If the robot moves at high speed with heavy loads, then productivity increases, but tilt and slippage occur reducing reliability
Solution Approach 1:
The patent employs dynamic control algorithms that continuously adapt to the robot's changing state during vertical movement. The velocity-space grasp matrix and inverse-kinematic models are updated in real-time based on proprioception data, allowing the system to maintain stability and prevent slippage even during high-speed operation with heavy loads up to 3000 kg.
Data Source
AI summary
A method for control of a vertically translatable robot includes collecting a set of data associated with a robot; processing the set of data with a set of control algorithms to produce a set of operational parameters; and operating the robot according to the set of operational parameters. The method functions to facilitate control of the vertically translatable robot.