Master-Slave Robot Arm Teaching Coordination
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Solution Overview
Problem
Direct teaching of multiple robot arms is complicated due to the difficulty in precisely adjusting the relative positions and postures, requiring expertise and being cumbersome when relying on external force detection and compliance control.
Innovation Solution
A method where one robot arm is designated as a master and the others as slaves, with the slave arms automatically maintaining a predetermined relation with the master arm's wrist position and posture during teaching, allowing the teaching person to focus on moving the master arm to a desired position while the slaves adjust accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If external force detection and compliance control are used for direct teaching, then the robot can operate by manually moving the wrist part, but the control becomes complicated and fine adjustment of position becomes difficult
Solution Approach 1:
The patent extracts the force detection and compliance control functions from the direct teaching system, eliminating the need for force sensors and complex compliance control algorithms. The teaching person directly manipulates the robot arm without external force detection intervention, simplifying the control system while maintaining ease of operation.
Solution Approach 2:
The robot arm provides self-service during direct teaching by allowing the teaching person to manually position it without requiring external force detection or compliance control assistance. The system relies on direct manual manipulation rather than complex sensor-based control.
2Measurement precision
If direct teaching is performed for multiple robot arms independently, then each arm can be taught separately, but precise adjustment of relative positions and postures requires expertise and is very complicated
Solution Approach 1:
The patent merges the teaching processes of multiple robot arms by establishing a master-slave relationship where the master arm's teaching automatically coordinates the slave arms. This combining approach maintains precise relative position adjustment while eliminating the complexity of independent teaching for each arm.
Solution Approach 2:
The master arm serves as an intermediary that coordinates the positioning and posture of multiple robot arms. By controlling the master arm, the teaching person indirectly controls the relative positions and postures of all arms through the established relationships, simplifying the teaching process while maintaining precision.
3Device complexity
If multiple robot arms are taught independently without coordination, then the teaching process is simpler for each arm, but the relative positions and postures between arms cannot be precisely adjusted
Solution Approach 1:
The master arm acts as an intermediary that coordinates the positioning of multiple robot arms. When the master arm is taught a position and posture, the slave arms automatically adjust to maintain their established relationships, achieving precise relative positioning without increasing the complexity of the teaching process.
Solution Approach 2:
The system implements feedback by continuously maintaining the established relationships between master and slave arms. When the master arm moves to a taught position, the slave arms receive feedback about the master's position and automatically adjust to maintain the correct relative positions and postures.
Data Source
AI summary
A direct teaching method of a robot includes specifying one of a plurality of robot arms as a master arm and specifying as a slave arm at least one of the robot arms which is other than the master arm; causing the slave arm to operate cooperatively with the master arm so that relative positions and postures of a wrist part of the master arm and a wrist part of the slave arm become a predetermined relation, while a teaching person is directly applying a force to an arbitrary location of the master arm including a tool, to move the master arm to a desired teaching position; and storing position information of at least one of the master arm and the slave arm at a time point when the master arm has reached the desired teaching position.