Robot Teaching Control with Dual Force-Guided Operation Modes
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Solution Overview
Problem
Existing robot teaching devices face challenges in accurately changing the position and posture of a robot's fingertip effector to a desired position and posture due to difficulties in setting accurate force control parameters and applying the correct forces, leading to inaccuracies in teaching the robot.
Innovation Solution
A control device that switches between two operation modes: one where the robot moves until an external force applied to the hand satisfies a predetermined condition, and another where the robot moves based on an external force applied to a specific part, allowing for precise control of the robot's position and posture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force control parameters are accurately set in direct teaching mode, then the robot can be taught desired position and posture, but it remains difficult for the teaching operator to accurately apply the desired force in the desired direction
Solution Approach 1:
The patent divides the teaching operation into two distinct modes: a first mode where the robot moves automatically until external force satisfies predetermined conditions, and a second mode where the robot moves based on external force applied to a specific part. This segmentation allows operators to choose the appropriate mode for different teaching scenarios, avoiding the difficulty of manual force application while maintaining teaching accuracy.
Solution Approach 2:
The patent implements dynamic switching between different operation modes based on the teaching requirements. The robot control section dynamically adjusts the control strategy: in the first mode, it waits for external force conditions to be met; in the second mode, it responds to external force applied to a specific part. This dynamic adaptation resolves the contradiction by providing flexibility in how force interaction is handled.
2Manufacturing precision
If the robot uses force control to move the fingertip effector, then position and posture can be taught, but accurate changes to desired position and posture cannot be achieved unless force control parameters are accurately set
Solution Approach 1:
In the first mode, the robot system essentially performs self-service by automatically detecting when external force conditions are satisfied and proceeding with the teaching operation. The predetermined conditions for external force are set in advance, and the system autonomously determines when to execute the teaching, reducing the need for complex real-time parameter adjustments by operators.
Solution Approach 2:
The patent changes the control parameters dynamically based on the operation mode. In the first mode, the system waits for external force to satisfy predetermined conditions before moving. In the second mode, the system moves based on external force applied to a specific part. This parameter change strategy simplifies the overall control complexity by providing clear, mode-specific parameter sets rather than requiring complex real-time adjustments.
3Reliability
If the teaching operator applies force to the fingertip effector, then the robot can learn position and posture, but it is sometimes difficult to accurately apply the desired force in the desired direction
Solution Approach 1:
The patent introduces an intermediary approach by providing two distinct operational pathways. Instead of relying solely on the operator to accurately apply force to the fingertip effector, the system offers a first mode where movement occurs when external force conditions are met, and a second mode where movement occurs based on force applied to a specific part. This intermediary structure mediates between the operator's force application and the robot's movement, ensuring teaching reliability while reducing operational difficulty.
Data Source
AI summary
A control device includes a robot control section that controls a robot including a hand and a force detecting section; and an operation-mode switching section that switches, when storing a position and a posture of the robot, a first mode for moving the robot by the robot control section until an external force applied to the hand satisfies a predetermined condition and a second mode for moving the robot by the robot control section on the basis of an external force applied to a first part included in the robot.