Master-Slave Coordinate Control for Moving Workpiece Operation
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Solution Overview
Problem
Operating a user interface for a robot becomes difficult when the target area's position and posture change, especially when performing tasks like grinding on curved surfaces, requiring complex adjustments by the operator.
Innovation Solution
A master-slave system with a master unit and slave unit, including an operation detector, action part, and control device that maintains a consistent coordinate system relationship between the master and object, allowing easy operation even when the target area changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the operator operates the user interface to follow the changing position and posture of the target area, then the robot can accurately apply actions to the curved surface, but the operation becomes difficult when the target area changes greatly
Solution Approach 1:
The patent introduces an intermediary coordinate system (workpiece coordinate system) that remains fixed relative to the workpiece while the robot operates in a different coordinate system (robot coordinate system). The control device performs coordinate conversion between these systems, allowing the operator to work with a stable reference frame while the robot automatically adapts to the workpiece's position and posture changes.
Solution Approach 2:
The patent changes the parameter of coordinate system reference from being tied to the robot's position to being tied to the workpiece's position and posture. By dynamically updating the workpiece coordinate system based on the workpiece's state and maintaining a fixed relationship between the master unit and this coordinate system, the operator experiences consistent control parameters regardless of the target area's changes.
2Measurement precision
If the coordinate system relationship between master unit and object coordinate system is updated when the object moves, then the operation accuracy is maintained, but the operator must adjust to new coordinate relationships
Solution Approach 1:
Instead of updating the master unit's coordinate system relationship to follow the object's movement, the patent inverts the approach by maintaining a fixed relationship between the master unit and the workpiece coordinate system, while updating the relationship between the slave unit and the workpiece coordinate system. This allows the master unit to remain stable for the operator while the slave unit adapts to the object's movements.
Solution Approach 2:
The patent segments the coordinate system relationships into two independent parts: (1) the relationship between the master unit and the workpiece coordinate system, which remains fixed, and (2) the relationship between the slave unit and the workpiece coordinate system, which is updated based on object movement. This segmentation allows each part to serve its specific function without interfering with the other.
Data Source
AI summary
A master-slave system includes a master unit, a slave unit, and a control device. The control device includes first circuitry that determines a first relationship that is a relationship between a slave coordinate system and an object coordinate system, second circuitry that determines a second relationship that is a relationship between a master coordinate system and the object coordinate system, and third circuitry that outputs an operational command for causing the slave unit to operate according to operational information of the master unit, the first relationship, and the second relationship. When the object coordinate system is moved, the first circuitry newly determines the first relationship after the movement based on the moved object coordinate system and the slave coordinate system, and the second-circuitry determines the second relationship after the movement, as a relationship similar to the second relationship before the movement.