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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication Robotics and factories of the future ’87
Subtitle of host publicationproceedings of the second international conference San Diego, California, USA July 28–31, 1987
EditorsR. Radharamanan
Place of PublicationBerlin
PublisherSpringer
Pages437-446
ISBN (Electronic)9783642738906
ISBN (Print)9783642738920
DOIs
Publication statusPublished - 1988
Event2nd International Conference on Robotics & Factories of the Future - San Diego, United States
Duration: 28 Jul 198731 Jul 1987

Conference

Conference2nd International Conference on Robotics & Factories of the Future
CountryUnited States
CitySan Diego
Period28/07/8731/07/87
Relations Get citation (various referencing formats)

ID: 2007192