Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients

David Sanders; John Billingsley; David Robinson; Arther Collie

doi:10.1007/978-3-642-73890-6_51

Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients

David Sanders, John Billingsley, David Robinson, Arther Collie

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper reports on a technique expected to increase the speed of operation and working life of robot servo motors and machinery. The system was first proposed at the CADCAM 87 Conference in Birmingham England. Sanders 1987. [Ref.l]. Since that paper was prepared changes in the system and techniques have been made and are included.

Unnecessary changes in velocity of robot motors occur as a robot attempts to closely follow the programmed paths produced by CADCAM or teaching packages. These changes in direction reduce the operating speed and efficiency of the robot and may excite resonances in the manipulator.

The described technique uses information from the servo motor currents to adapt the robot paths and minimise current and torque transients. The current transients produced by changes in direction or velocity are similar to those produced by collisions and methods of discrimination are considered and described.

Transients due to contact with hard obstructions have a larger amplitude and slope characteristic than transients associated with changes in direction. These collisions are detectable. Contact with softer objects is more difficult to discriminate. Velocities are monitored and a large error with a low velocity suggests an overload or collision. Any transients not associated with the generation of new demand signals are regarded as collisions

Original language	English
Title of host publication	Robotics and factories of the future ’87
Subtitle of host publication	proceedings of the second international conference San Diego, California, USA July 28–31, 1987
Editors	R. Radharamanan
Place of Publication	Berlin
Publisher	Springer
Pages	437-446
ISBN (Electronic)	9783642738906
ISBN (Print)	9783642738920
DOIs	https://doi.org/10.1007/978-3-642-73890-6_51
Publication status	Published - 1988
Event	2nd International Conference on Robotics & Factories of the Future - San Diego, United States Duration: 28 Jul 1987 → 31 Jul 1987

Conference

Conference	2nd International Conference on Robotics & Factories of the Future
Country/Territory	United States
City	San Diego
Period	28/07/87 → 31/07/87

Access to Document

10.1007/978-3-642-73890-6_51

SERC CASE Project - Sensory based robotics and automatic robot path planning with constraints
Billingsley, J. & Sanders, D.
15/06/84 → 14/06/87
Project: Research

Cite this

Sanders, D., Billingsley, J., Robinson, D., & Collie, A. (1988). Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients. In R. Radharamanan (Ed.), Robotics and factories of the future ’87: proceedings of the second international conference San Diego, California, USA July 28–31, 1987 (pp. 437-446). Springer. https://doi.org/10.1007/978-3-642-73890-6_51

Sanders, David ; Billingsley, John ; Robinson, David et al. / Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients. Robotics and factories of the future ’87: proceedings of the second international conference San Diego, California, USA July 28–31, 1987. editor / R. Radharamanan. Berlin : Springer, 1988. pp. 437-446

@inproceedings{cf033b8f3b6a4b3f9e39479478e112d7,

title = "Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients",

abstract = "This paper reports on a technique expected to increase the speed of operation and working life of robot servo motors and machinery. The system was first proposed at the CADCAM 87 Conference in Birmingham England. Sanders 1987. [Ref.l]. Since that paper was prepared changes in the system and techniques have been made and are included.Unnecessary changes in velocity of robot motors occur as a robot attempts to closely follow the programmed paths produced by CADCAM or teaching packages. These changes in direction reduce the operating speed and efficiency of the robot and may excite resonances in the manipulator.The described technique uses information from the servo motor currents to adapt the robot paths and minimise current and torque transients. The current transients produced by changes in direction or velocity are similar to those produced by collisions and methods of discrimination are considered and described.Transients due to contact with hard obstructions have a larger amplitude and slope characteristic than transients associated with changes in direction. These collisions are detectable. Contact with softer objects is more difficult to discriminate. Velocities are monitored and a large error with a low velocity suggests an overload or collision. Any transients not associated with the generation of new demand signals are regarded as collisions",

author = "David Sanders and John Billingsley and David Robinson and Arther Collie",

year = "1988",

doi = "10.1007/978-3-642-73890-6_51",

language = "English",

isbn = "9783642738920",

pages = "437--446",

editor = "R. Radharamanan",

booktitle = "Robotics and factories of the future {\textquoteright}87",

publisher = "Springer",

note = "2nd International Conference on Robotics & Factories of the Future ; Conference date: 28-07-1987 Through 31-07-1987",

}

Sanders, D, Billingsley, J, Robinson, D & Collie, A 1988, Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients. in R Radharamanan (ed.), Robotics and factories of the future ’87: proceedings of the second international conference San Diego, California, USA July 28–31, 1987. Springer, Berlin, pp. 437-446, 2nd International Conference on Robotics & Factories of the Future, San Diego, United States, 28/07/87. https://doi.org/10.1007/978-3-642-73890-6_51

Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients. / Sanders, David; Billingsley, John; Robinson, David et al.
Robotics and factories of the future ’87: proceedings of the second international conference San Diego, California, USA July 28–31, 1987. ed. / R. Radharamanan. Berlin: Springer, 1988. p. 437-446.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients

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AU - Billingsley, John

AU - Robinson, David

AU - Collie, Arther

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Y1 - 1988

N2 - This paper reports on a technique expected to increase the speed of operation and working life of robot servo motors and machinery. The system was first proposed at the CADCAM 87 Conference in Birmingham England. Sanders 1987. [Ref.l]. Since that paper was prepared changes in the system and techniques have been made and are included.Unnecessary changes in velocity of robot motors occur as a robot attempts to closely follow the programmed paths produced by CADCAM or teaching packages. These changes in direction reduce the operating speed and efficiency of the robot and may excite resonances in the manipulator.The described technique uses information from the servo motor currents to adapt the robot paths and minimise current and torque transients. The current transients produced by changes in direction or velocity are similar to those produced by collisions and methods of discrimination are considered and described.Transients due to contact with hard obstructions have a larger amplitude and slope characteristic than transients associated with changes in direction. These collisions are detectable. Contact with softer objects is more difficult to discriminate. Velocities are monitored and a large error with a low velocity suggests an overload or collision. Any transients not associated with the generation of new demand signals are regarded as collisions

AB - This paper reports on a technique expected to increase the speed of operation and working life of robot servo motors and machinery. The system was first proposed at the CADCAM 87 Conference in Birmingham England. Sanders 1987. [Ref.l]. Since that paper was prepared changes in the system and techniques have been made and are included.Unnecessary changes in velocity of robot motors occur as a robot attempts to closely follow the programmed paths produced by CADCAM or teaching packages. These changes in direction reduce the operating speed and efficiency of the robot and may excite resonances in the manipulator.The described technique uses information from the servo motor currents to adapt the robot paths and minimise current and torque transients. The current transients produced by changes in direction or velocity are similar to those produced by collisions and methods of discrimination are considered and described.Transients due to contact with hard obstructions have a larger amplitude and slope characteristic than transients associated with changes in direction. These collisions are detectable. Contact with softer objects is more difficult to discriminate. Velocities are monitored and a large error with a low velocity suggests an overload or collision. Any transients not associated with the generation of new demand signals are regarded as collisions

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BT - Robotics and factories of the future ’87

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ER -

Sanders D, Billingsley J, Robinson D, Collie A. Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients. In Radharamanan R, editor, Robotics and factories of the future ’87: proceedings of the second international conference San Diego, California, USA July 28–31, 1987. Berlin: Springer. 1988. p. 437-446 doi: 10.1007/978-3-642-73890-6_51

Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients

Abstract

Conference

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Projects

SERC CASE Project - Sensory based robotics and automatic robot path planning with constraints

Cite this