Robot End Effector Tactile Feedback for Smooth Orientation Limits
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Solution Overview
Problem
Manual guidance of robot manipulators is hindered by non-intuitive mechanical brakes that interrupt movement when predefined orientation ranges are exceeded, requiring a more intuitive and smooth control method to manage end effector orientation.
Innovation Solution
A method and system where a control unit compensates for gravitational forces, using actuators and position angle detection to provide speed-dependent or rotation angle-dependent resistance during manual guidance, allowing the end effector to return to its original position with artificial damping, thus providing intuitive feedback and smooth transitions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If mechanical brakes are activated when a predefined orientation range is exceeded, then the orientation limit is enforced, but the movement is interrupted in a non-intuitive way that disrupts manual guidance
Solution Approach 1:
The patent replaces mechanical brakes with a control system that applies torque through actuators to limit end effector orientation. Instead of using mechanical friction brakes that abruptly stop movement, the control system calculates and applies compensating torques to guide the end effector back within the predefined orientation range, maintaining smooth and intuitive manual guidance while still enforcing orientation limits.
2Ease of operation
If actuators are controlled to provide rotation angle-dependent resistance outside the first range, then the end effector opposes manual guidance with controlled resistance, but this requires continuous detection and calculation to maintain smooth transitions
Solution Approach 1:
The control system continuously detects the orientation of the end effector using position angle detecting units and calculates the required torque based on the detected angle and predefined resistance characteristics. This feedback loop allows the system to provide rotation angle-dependent resistance that creates intuitive tactile feedback, guiding the user back within the operational range while maintaining smooth transitions without abrupt mechanical interruptions.
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 smooth manual guidance of robot manipulators by providing tactile feedback and controlled resistance, allowing the end effector to return to its original position with kinetic energy absorption and delayed return, enhancing user experience and control precision.
Implementation Method 1
Control of the actuators to compensate for a gravitational force acting on the robot manipulator by a control unit, so that the robot manipulator, starting from a stationary pose, remains in the stationary pose without acceleration without application of an external force
Implementation Method 2
within a first range of a first end effector rotation, opposes no or a speed-dependent resistance to the manual guidance
Implementation Method 3
outside the first range, opposes a rotation angle-dependent resistance to the manual guidance
Data Source
AI summary
A method includes: controlling actuators of a robot manipulator to compensate for influence of gravity; during a manual guidance of the robot manipulator detecting an orientation of an end effector; and controlling at least part of the actuators in such a way that during manual guidance of the end effector, the end effector: within a first range of a first rotation, opposes no or a speed-dependent resistance and outside the first range opposes a rotation angle-dependent resistance to the manual guidance, wherein the first rotation is a rotation angle of the end effector about its longitudinal axis; and within a second range of the second rotation, opposes no or a speed-dependent resistance to the manual guidance, and outside the second range, opposes a deflection-dependent resistance to the manual guidance, wherein the second rotation is a rotational deflection of the end effector from its original longitudinal axis or a vertical axis.