Motor Control Device for Continuous Torque Limiting in Robot Hands
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Solution Overview
Problem
Existing motor control systems for robot hands require temporary stopping of the movable part to switch from speed control to torque control, which can cause disruptions and inefficiencies when grasping or manipulating objects.
Innovation Solution
A motor control device that utilizes a rotation detection signal to adjust torque limits and control torque instruction signals, allowing for continuous speed control without exceeding a set torque limit, even when the rotating shaft is stopped or rotating, by using a speed controller, limit value setting unit, and torque limit control unit to manage torque and rotational speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the control system switches from speed control to torque control to enable the movable part to grasp objects, then the robot hand can apply appropriate force to grasp objects, but the movable part must temporarily stop which reduces productivity
Solution Approach 1:
The patent applies dynamics by making the control mode flexible and adaptable rather than fixed. The control device dynamically switches between speed control and torque control based on real-time feedback from the rotation detector, allowing the system to optimize between speed and force application continuously without requiring temporary stops
Solution Approach 2:
The patent changes the control parameter dynamically based on operational needs. The control device switches between controlling rotational speed and controlling torque based on feedback signals, enabling the system to adapt parameters in real-time to maintain both high productivity and appropriate grasping force
2Speed
If the torque of the motor is rapidly increased to improve the response speed of the movable part, then the response speed improves, but the movable part may collide with or damage the grasped object
Solution Approach 1:
The patent applies beforehand cushioning by implementing a rotation detector that monitors the rotational state of the motor shaft and provides feedback to the control device. This detection system acts as a cushioning mechanism that prevents excessive torque application by detecting changes in rotational state before damage can occur, allowing for gradual and controlled torque increase
Solution Approach 2:
The patent implements feedback control by using the rotation detector to continuously monitor the motor shaft's rotational state and feed this information back to the control device. This feedback mechanism enables the control device to adjust torque output in real-time, preventing rapid torque increases that could cause collision or damage while maintaining responsive operation
Data Source
AI summary
A motor control device controls a motor using an angle data signal and a rotational speed signal output from a rotation detector detecting a rotation state of a rotating shaft of the motor. The motor control device includes a speed control unit that outputs a torque instruction signal corresponding to a difference between the rotational speed of the rotating shaft and a speed instruction using the speed instruction of the rotating shaft and the rotational speed signal, a limit value setting unit that sets a torque limit value indicating the maximum value of the torque applied to the rotating shaft, and a torque limit control unit that limits the torque of the rotating shaft driven by the torque instruction signal to the torque limit value or less.