Robotic Gripper Force Compensation for Collision Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing picking apparatuses face difficulties in detecting collisions during the conveyance of objects, which can result in damage or dropping of articles.
Innovation Solution
A picking apparatus equipped with a gripper, arm, detector, and control unit that calculates and compensates for gravitational and inertial forces using pre-determined coefficients, allowing for real-time collision detection by subtracting these forces from sensed forces to determine potential collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If collision detection is performed during object conveyance, then operational safety is improved, but detection accuracy deteriorates due to interference from gravitational and inertial forces
Solution Approach 1:
The patent extracts and separates the gravitational force and inertial force components from the total force measured by the detector. By calculating these forces independently using the arithmetic expression (F = m×g + m×a), the system removes their influence from the collision detection analysis, allowing accurate collision detection even during dynamic conveyance operations.
Solution Approach 2:
The patent changes the parameter representation by using coefficients that vary according to the mass of the object being conveyed. The arithmetic expression incorporates mass-dependent coefficients to accurately calculate gravitational and inertial forces for different objects, enabling precise force separation and collision detection across various operating conditions.
2Ease of operation
If simple collision determination is implemented, then ease of operation is improved, but detection accuracy deteriorates due to force interference
Solution Approach 1:
The patent replaces complex mechanical collision detection systems with a computational approach. By using the arithmetic expression to calculate gravitational and inertial forces and subtracting them from the detector reading, the system achieves accurate collision detection through mathematical processing rather than complex mechanical mechanisms, maintaining simplicity while improving accuracy.
3Measurement precision
If gravitational and inertial forces are compensated for, then detection accuracy is improved, but device complexity increases
Solution Approach 1:
The patent implements a universal control unit that performs multiple functions: it controls the gripper and arm operations, calculates gravitational and inertial forces using a standardized arithmetic expression, and detects collisions by subtracting calculated forces from detector readings. This multi-functional approach consolidates complexity into a single control unit rather than requiring separate systems for each function.
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 effective and accurate detection of collisions during object conveyance, reducing the risk of damage and improving operational safety by minimizing the collision threshold value while maintaining detection accuracy.
Implementation Method 1
The detector is attached to the arm and senses a force applied to the gripper
Implementation Method 2
The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed using an arithmetic expression including a coefficient determined in accordance with a mass of the object to be conveyed
Implementation Method 3
The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed
Data Source
AI summary
A picking apparatus in an embodiment includes: a gripper, an arm, a detector, and a control unit. The gripper picks and grips an object to be conveyed. The arm moves the gripper and causes the gripper to convey the object to be conveyed. The detector is attached to the arm and senses a force applied to the gripper. The control unit controls an operation of the gripper and the arm. The control unit includes a calculator and a subtractor. The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed using an arithmetic expression including a coefficient determined in accordance with a mass of the object to be conveyed. The subtractor subtracts the gravitational force and the inertial force calculated by the calculator from a force applied to the gripper sensed by the detector.