Dual-Arm Robot Teaching Using Backdrive and Tip Guidance
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Solution Overview
Problem
Conventional direct teaching of dual-arm robots is cumbersome and requires exclusive sensors, leading to delays and safety concerns, especially when performing rapid operations, and is complicated due to the need to avoid arm interference.
Innovation Solution
A teaching system where the teacher grips both arm tips with hands to move the arms directly, eliminating the need for exclusive sensors by turning off servo motors and disengaging brakes, using backdrive for easier movement and incorporating self-weight compensation mechanisms to reduce load and enhance safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If exclusive sensors such as joystick and force sensor are used for direct teaching, then the robot can be taught operations, but a delay occurs in robot operation during teaching and a sense of discomfort is felt
Solution Approach 1:
The patent removes exclusive teaching sensors (joystick, force sensor) from the system and uses only the robot's existing drive system. The teacher directly operates the arm tip end without intermediate sensing devices, eliminating the delay caused by sensor processing and signal transmission.
Solution Approach 2:
The control device acts as an intermediary that monitors the teacher's direct operations and controls the servo motors accordingly. This allows direct manual operation while maintaining automated control through the servo system, avoiding delays associated with dedicated teaching sensors.
2Productivity
If rapid operation is inputted during direct teaching, then teaching efficiency increases, but the robot may perform abrupt change operation causing danger
Solution Approach 1:
The control device continuously monitors the teacher's operations and provides feedback control through the servo motors. This feedback mechanism detects rapid or abrupt operations and can adjust the robot's response to prevent dangerous movements while maintaining teaching efficiency.
Solution Approach 2:
The servo motors provide dynamic control that adapts to the teacher's input speed. The system can handle rapid operations when safe, but automatically adjusts to prevent abrupt changes that would cause danger, making the system both efficient and safe.
3Reliability
If teaching of dual-arm robot is performed by finding routes that avoid interferences between two arms, then the robot can operate safely, but the teaching process becomes complicated
Solution Approach 1:
The dual-arm robot system allows the teacher to directly manipulate both arms simultaneously without pre-programmed interference avoidance routines. The control device handles collision detection and route adjustment automatically, making the safety mechanisms self-activating rather than requiring complex teaching procedures.
Solution Approach 2:
The patent replaces complex mechanical teaching procedures for avoiding arm interference with an automated control system that uses sensors and algorithms to detect and prevent collisions between arms during teaching operations.
4Ease of operation
If servo motors are turned off and brakes are disengaged to enable backdrive for easier arm movement, then teaching operation becomes easier, but the possibility of robot going out of control increases
Solution Approach 1:
The control device provides continuous feedback control even when servo motors are in backdrive mode. This feedback mechanism monitors arm position and velocity, ensuring that the robot remains controllable during teaching operations despite the servo motors being turned off and brakes disengaged.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables intuitive and easy teaching of dual-arm robots without the need for additional sensors, ensuring safety and reducing the complexity of avoiding arm interference, thus making the teaching process more efficient and cost-effective.
Implementation Method 1
a self-weight compensation mechanism configured to come the second link to rest with respect to the first link by applying a force in the opposite direction of gravity to the second link
Implementation Method 2
the control device may acquire the teaching points in a state where the servo motors are turned off and brakes are disengaged... by using the backdrive of each arm, the teacher becomes easier to move both the arms
Data Source
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AI summary
The purpose is to perform a teaching work of a dual-arm robot instinctively and easily. A teaching system (1) of a dual-arm robot according to the present disclosure includes a dual-arm robot (2) including two arms (4R, 4L) comprised of a plurality of links coupled to each other with joint shafts, and two instructing parts (5R, 5L) provided to tip ends of the two arms, respectively, and configured to indicate coordinate points in space and to be grippable by a teacher, and a control device (3) configured to acquire the coordinate points indicated by the teacher moving the two instructing parts directly and simultaneously with both hands as teaching points, and teach the dual-arm robot operation corresponding to the acquired teaching points.