Force Information Display Device for Robot Hand
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Solution Overview
Problem
It is challenging for workers to accurately interpret force and moment data applied to a workpiece using a force sensor attached to a robot arm, as the coordinate axes of the force sensor system are inclined relative to the absolute coordinate system, making it difficult to understand the forces and moments applied in the absolute coordinate system.
Innovation Solution
A force information display device that includes a signal input section for receiving data from a force sensor and a gyro sensor, which calculates the displaced angle of the robot hand and converts force and moment data from the force sensor coordinate system to the absolute coordinate system, allowing for easy display and interpretation of these values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force sensor is attached to robot arm to detect force and moment, then measurement precision is improved, but ease of operation deteriorates because coordinate systems are inclined and difficult to interpret
Solution Approach 1:
The control section acts as an intermediary that automatically converts force and moment data from the force sensor coordinate system to the absolute coordinate system. This mediator translates the inclined coordinate data into easily interpretable absolute coordinate data, resolving the contradiction between precise measurement and ease of interpretation.
Solution Approach 2:
The system changes the coordinate system parameters by performing mathematical transformation of the force and moment vectors from one coordinate system to another. This parameter transformation allows the same physical quantities to be expressed in a more interpretable coordinate framework without losing measurement precision.
2Measurement precision
If force sensor coordinate system is fixed to force sensor on robot arm, then measurement precision is improved, but device complexity increases due to coordinate transformation requirements
Solution Approach 1:
The system replaces complex mechanical coordinate alignment with software-based coordinate transformation. Instead of physically aligning the force sensor coordinate system with the absolute coordinate system, the control section performs mathematical transformations, simplifying the physical setup while maintaining measurement precision.
Solution Approach 2:
The control section serves as a computational intermediary that handles the coordinate transformation automatically. This mediator absorbs the complexity of coordinate system conversions, keeping the physical device simple while enabling precise force and moment measurements in the desired coordinate framework.
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
The device enables workers to easily acknowledge and visualize forces and moments applied to the workpiece in the absolute coordinate system, improving understanding and measurement accuracy.
Implementation Method 1
a gyro sensor disposed between a robot arm and a robot hand
Implementation Method 2
at least one of a force and a moment in a force sensor coordinate system fixed to the force sensor
Data Source
AI summary
A control section executes: a first calculation process calculating, from an angular velocity supplied from a gyro sensor, a displaced angle of a robot hand; a first display process converting, according to the displaced angle of the robot hand, at least one of a force and a moment, supplied from the force sensor, in a force sensor coordinate system fixed to a force sensor into at least one of a force and a moment in an absolute coordinate system fixed to a ground and indicating it on a display; or a second display process indicating, on the display, a relation between the absolute coordinate system and the force sensor coordinate system according to the displaced angle of the robot hand.