Dual-Arm Robot Force-Impedance Control for Synchronized Teaching
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Solution Overview
Problem
Dual-arm robots face challenges in synchronizing movements, leading to difficulties in performing coordinated tasks efficiently and requiring extensive time for teaching and operation.
Innovation Solution
A control apparatus that includes a first robot arm with a force detection part and a second robot arm with a force detection part, utilizing a control unit to move the first arm to a target force and perform impedance control on the second arm, enabling synchronized and precise movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If position control is used to move both robot arms, then the robot arms can be controlled to perform work, but it is difficult to synchronize the two robot arms with each other
Solution Approach 1:
The patent introduces a master-slave control relationship where one robot arm (master) is controlled by position control and the other robot arm (slave) is controlled by impedance control with force feedback from the master arm. This intermediary control mechanism enables precise synchronization between the two arms while simplifying the operation, as the operator only needs to control the master arm and the slave arm automatically follows with synchronized movement.
2Productivity
If position control is used for both robot arms, then work can be performed, but lots of time and effort are taken for teaching of the robot
Solution Approach 1:
The patent implements a master-slave copying control mechanism where the slave robot arm replicates the movements of the master robot arm in real-time through impedance control and force feedback. This copying approach eliminates the need for separate teaching of both arms, as teaching only needs to be performed for the master arm, while the slave arm automatically copies its movements, significantly reducing teaching time and effort.
3Adaptability or versatility
If two single-arm robots are used instead of a dual-arm robot, then each robot can be controlled independently, but the installation space increases
Solution Approach 1:
The patent combines two robot arms into a single dual-arm robot system with a shared base and control unit. The master-slave control mechanism allows each arm to be controlled independently with full adaptability, while the integrated design significantly reduces the installation space compared to using two separate single-arm robots. The shared control system also simplifies the overall control architecture.
Data Source
AI summary
A control apparatus that controls a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, includes a processor that configured to move the first robot arm until a target force is detected by the first force detection part and performs impedance control on the second robot arm based on output of the second force detection part in at least a part of a movement period in which the first robot arm is moved.