Force-Guided Robot Teaching for Precise Positioning Mode Switching
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Solution Overview
Problem
Existing robot teaching technologies face challenges in performing minute positioning and efficiently switching between control modes, requiring time and labor to instruct mode changes, especially when using direct teaching methods.
Innovation Solution
A control device that includes a movable unit and a force detecting unit, allowing the controller to switch between continuous movement and predetermined movement modes based on the temporal change and magnitude of the force detected, enabling seamless mode switching during robot teaching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If direct teaching mode is used to continuously move the robot, then the robot can be moved continuously and largely, but it is difficult to perform minute positioning
Solution Approach 1:
The system dynamically switches between two control modes based on the teaching situation: continuous movement mode for large-scale positioning and fixed amount movement mode for minute positioning. This dynamic adaptation allows the robot to optimize its movement characteristics according to the specific teaching requirements at each moment.
Solution Approach 2:
The control mode is changed by detecting the temporal change in applied force. When the force changes rapidly (indicating a need for fine adjustment), the system switches to fixed amount movement mode with smaller movement increments. When the force is stable, it uses continuous movement mode for faster positioning.
2Manufacturing precision
If control mode switching is implemented for minute positioning, then positioning precision is improved, but it requires instructing switching of teaching pendant which takes time and labor
Solution Approach 1:
The system automatically determines and switches between control modes based on the force detection results without requiring manual intervention. The teaching operation itself (applying force to the robot) serves as the trigger for mode switching, eliminating the need for separate mode selection operations.
Solution Approach 2:
The system uses force detection feedback to automatically control mode switching. By monitoring the temporal change in applied force, the system receives feedback about the teaching situation and autonomously adjusts the control mode accordingly, creating a closed-loop control system that responds to actual teaching needs.
3Manufacturing precision
If fixed amount movement mode is used for minute positioning, then positioning precision is improved, but operational time increases due to repeated small movements
Solution Approach 1:
The system dynamically adapts the movement mode based on real-time force detection, using continuous movement when appropriate for faster positioning and fixed amount movement only when minute adjustment is actually needed. This dynamic selection optimizes the balance between speed and precision throughout the teaching process.
Solution Approach 2:
The movement parameters (movement amount, control mode) are changed based on the temporal characteristics of the applied force. By analyzing whether the force is steadily increasing or changing rapidly, the system adjusts its movement parameters to achieve efficient teaching without unnecessary small incremental movements.
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 efficient and labor-saving mode switching during robot teaching, allowing for precise positioning and reduced operational time by automatically selecting between continuous and fixed amount movement modes based on detected force characteristics.
Implementation Method 1
a force detecting unit that detects a force applied to the movable unit
Data Source
AI summary
In teaching of a robot, a control device controls a movable unit in a first control mode in which the movable unit continuously moves according to a force detected by a force detector and a second control mode in which the movable unit moves by a predetermined movement amount according to the force detected by the force detector. A controller selects a first control mode or a second control mode according to a temporal change in the force detected by the force detector and a magnitude of the force.