Lead-Through Robot Control for Unsuitable Load Information
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Solution Overview
Problem
Existing robot controllers face challenges in accurately determining the suitability of load information during lead-through teaching, leading to potential abrupt movements when load information is inaccurate, which can result in unintended robot movements.
Innovation Solution
A robot controller with a storage unit for load information, a lead-through control unit that detects external forces using sensors, and a load suitability determining unit that adjusts the robot's movement sensitivity based on detected forces and stored load information, restricting movement if unsuitable load information is detected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If lead-through control is performed with high sensitivity to detect external forces, then the robot responds quickly to user input, but abrupt unintended movements occur when load information is inaccurate
Solution Approach 1:
The lead-through control unit dynamically adjusts the gain based on the determined suitability of load information. When load information is determined to be suitable, a first gain is applied for responsive control. When load information is determined to be unsuitable, a second gain smaller than the first gain is applied to prevent abrupt movements. This dynamic adjustment of control parameters resolves the contradiction between response speed and movement accuracy.
2Ease of operation
If the robot allows free movement during lead-through teaching, then ease of operation is improved, but unintended movements occur when load information is inaccurate
Solution Approach 1:
The system uses feedback from the determined suitability of load information to adjust the lead-through control gain. The lead-through control unit receives feedback about whether load information is suitable and automatically adjusts the gain accordingly. This feedback mechanism maintains ease of operation when load information is accurate while preventing unintended movements when load information is inaccurate.
3Reliability
If the robot restricts movement to prevent unintended movements, then movement accuracy is improved, but ease of operation during lead-through teaching deteriorates
Solution Approach 1:
The system dynamically adjusts the degree of movement restriction based on the suitability of load information. When load information is suitable, the robot allows free movement for easy lead-through teaching. When load information is unsuitable, the robot applies movement restriction through reduced gain. This dynamic adjustment resolves the contradiction between movement accuracy and ease of operation.
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 solution ensures smooth and controlled robot movements by reducing sensitivity when inaccurate load information is detected, preventing abrupt unintended movements and improving workability by adjusting the gain of the lead-through control unit.
Implementation Method 1
a lead-through control unit that controls the robot based on external force detected by a sensor provided in the robot
Data Source
AI summary
A robot controller includes a storage unit that stores load information including a mass and a center of gravity position of a load to be attached to a robot; a lead-through control unit that controls the robot comprising a sensor that detects an external force, based on the external force detected by the sensor and the load information stored in the storage unit; and a load suitability determining unit that determines whether or not the load information stored in the storage unit is suitable. In response to the load suitability determining unit determining that the load information has a possibility of being unsuitable, the lead-through control unit performs a restriction on a movement of the robot.