Dual-Arm Robot Swing Control for Fixed Workpiece Positioning
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Solution Overview
Problem
Existing robot systems struggle to perform operations that require a swing while fixing a target work piece, as they typically have only one robot arm, which limits their ability to independently perform tasks that necessitate rotation of the swing device.
Innovation Solution
A robot system with multiple robot arms connected to a swing device, where a control unit maintains at least one robot arm's tool at the same position and posture during the swing, allowing independent operation of other arms to perform tasks that require rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single robot arm is used, then the device complexity is reduced, but the robot cannot perform operations that require swinging while fixing a target work piece
Solution Approach 1:
The robot system divides the work into separate functions for each arm: one arm (first robot arm) is dedicated to fixing the target work piece, while the other arm (second robot arm) performs operations requiring swing movements. This segmentation allows the system to achieve complex operational capabilities without requiring a single arm to perform contradictory functions simultaneously.
Solution Approach 2:
The swing device serves multiple functions: it enables the second robot arm to perform swing operations while simultaneously allowing the first robot arm to maintain a fixed position for work piece handling. This multi-functionality resolves the contradiction by making the swing mechanism serve both fixing and moving operations through coordinated control of multiple arms.
2Length of moving object
If the robot arm extends to grasp a distant target work piece, then the reach is increased, but the moment at the support point increases reducing the graspable mass
Solution Approach 1:
The swing device acts as an intermediary mechanism that enables the robot arm to access distant target work pieces without requiring extreme extension of the arm itself. By utilizing swing movements, the system can reach distant positions while maintaining the arm in a more favorable mechanical configuration, thereby preserving graspable mass capacity.
3Adaptability or versatility
If the swing device rotates to perform a task, then the operational flexibility is improved, but the other arm cannot perform different tasks independently
Solution Approach 1:
The control unit dynamically coordinates the swing device movements with the positions and operations of both robot arms. During swing operations, the system dynamically adjusts the first arm's position to compensate for swing movements, ensuring it maintains a fixed position relative to the target work piece. This dynamic control enables both arms to operate independently for different tasks while the swing device provides operational flexibility.
Data Source
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AI summary
A robot system 1 includes a robot 100, and a robot controller 200 configured to control operation of the robot 100. The robot 100 includes two arms 103L, 103R including tools 150L, 150R at their tip ends, and a body 102 that supports the two arms 103L, 103R and allows them to swing. The robot controller 200 controls the robot 100 so as to keep the tool 150 provided at the tip end of at least one arm 103 of the two arms 103L, 103R at the same position in the same posture during a time period between before and after a swing.