Force Control Teaching with Linked Trajectory and Force Parameters
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Solution Overview
Problem
Existing force control teaching methods require numerous parameters to be adjusted manually, are difficult for beginners, and lack intuitive adjustment capabilities, leading to increased complexity and time consumption.
Innovation Solution
A teaching device and controller that associate force parameters with motion trajectories using a force detector, allowing simultaneous teaching of both, thereby simplifying the process and reducing the need for manual adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional force control teaching methods are used, then force control can be implemented, but the teaching process becomes cumbersome and time-consuming due to the need to adjust numerous parameters
Solution Approach 1:
The patent combines force parameter teaching with motion trajectory teaching into a single integrated process. The teaching unit simultaneously teaches both the motion trajectory and force parameters applied to the work target during one teaching operation, eliminating the need for separate teaching steps and significantly reducing teaching time while maintaining complete force control capability
Solution Approach 2:
The teaching unit is designed to perform multiple functions: it teaches motion trajectory, teaches force parameters, and records both types of information in an integrated manner. This multi-functional approach allows a single teaching operation to accomplish what previously required multiple separate teaching processes
2Reliability
If multiple parameters are taught for force control, then comprehensive control is achieved, but the complexity of teaching increases making it difficult for operators with limited knowledge
Solution Approach 1:
The patent merges the teaching of motion trajectory and force parameters into a unified teaching process. The teaching unit handles both types of parameters simultaneously through a single interface, reducing the perceived complexity for operators while maintaining comprehensive control data collection
Solution Approach 2:
The system automatically records and processes force parameters and motion trajectory information during teaching operations. The teaching unit manages the complexity of parameter collection and storage internally, reducing the burden on operators to manually configure each parameter while ensuring comprehensive control data is captured
3Reliability
If force parameters are taught using traditional methods, then force control can be implemented, but intuitive parameter teaching is lacking and coordinate system knowledge is required
Solution Approach 1:
The teaching unit automatically determines and records force parameters and motion trajectory information based on actual machine operations. The system self-manages the complex coordinate system calculations and parameter transformations internally, presenting a simplified interface to operators that does not require specialized knowledge of coordinate systems while ensuring accurate force control implementation
4Stability of the object's composition
If force parameters are adjusted globally, then consistency is maintained, but flexible adjustment at each teaching point is lost
Solution Approach 1:
The patent segments force parameter teaching and adjustment into individual teaching points along the motion trajectory. Each teaching point can have its own specific force parameters recorded and adjusted independently, allowing operators to modify force characteristics at specific locations without affecting other parts of the trajectory, thus providing both local flexibility and overall consistency
Data Source
AI summary
This teaching device comprises a teaching unit that, using a force detector, binds a force parameter of a force control command for a machine, and a movement trajectory of the machine which executes force control, and that simultaneously teaches the force parameter and the movement trajectory.