7-Axis Robot Control with Explicit Elbow Positioning
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Solution Overview
Problem
Existing robot control methods for 7-axis robots face challenges in high-speed operation due to iterative calculations and fail to explicitly designate the elbow position, leading to difficulties in avoiding obstacles and handling offset structures.
Innovation Solution
A robot control device and method that explicitly designates the elbow position in a 7-axis vertical articulated robot with an offset structure, using a storage unit to store control information for matching input conditions, allowing the robot control unit to control the robot's axes accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an iterative method is used to control a 7-axis robot to avoid singular points, then the robot can avoid singular points and obstacles, but the amount of calculations increases and high-speed operation becomes difficult
Solution Approach 1:
The patent pre-calculates and stores multiple sets of joint angles corresponding to different combinations of 6 axes for avoiding singular points before actual robot operation. During operation, the control device directly retrieves pre-calculated solutions based on the current robot state, eliminating the need for real-time iterative calculations and enabling high-speed operation while maintaining singularity avoidance capability
2Productivity
If automatic selection of axes for avoiding singular points is used, then the amount of calculations is reduced and high-speed operation is achieved, but the position corresponding to the elbow cannot be explicitly designated and intuitive obstacle avoidance is not possible
Solution Approach 1:
The patent separates the control into two independent parts: (1) automatic selection of 6 axes for maintaining robot stability and avoiding singular points, and (2) explicit designation of the elbow position for intuitive obstacle avoidance. This segmentation allows both automatic high-speed control and manual intuitive control to coexist without interference
Solution Approach 2:
The patent introduces the elbow position as an intermediary parameter that mediates between automatic control and manual operation. By explicitly designating the elbow position, the operator can intuitively guide obstacle avoidance while the control device automatically handles the complex coordinate transformations and joint angle calculations
3Device complexity
If the control method is designed for standard 7-axis robots, then control is simplified, but it cannot be applied to robots with offset structures between axes
Solution Approach 1:
The patent designs the control device with universal functionality that can handle both standard 7-axis robots and robots with offset structures. The control device automatically detects the robot structure type and adapts its calculation method accordingly, making it applicable to multiple robot configurations without requiring separate control systems
Data Source
AI summary
A robot control device of a vertical articulated robot having seven axes and an offset structure includes: a storage unit which stores a condition of a status of the vertical articulated robot including a position of an elbow in the vertical articulated robot and control information for controlling the vertical articulated robot such that the condition is satisfied to match each other; an input unit to which the condition of the status of the vertical articulated robot including the position of the elbow is input; and a robot control unit which controls the vertical articulated robot such that the input condition is satisfied on the basis of the control information stored in the storage unit to match the same condition as the condition input to the input unit.