Robot Arm Collision Threshold Switching for Contact Operations
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Solution Overview
Problem
Existing robots with collision detection functions may erroneously detect collisions when a uniform threshold value is used for both non-contact and contact intentional operations, leading to potential misinterpretation.
Innovation Solution
The robot system includes a control device that dynamically adjusts the threshold value for collision detection based on whether the operation is intended for contact or non-contact with another object, using external force detection and a control device to differentiate between these scenarios.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a uniform threshold value is used for collision detection regardless of operation type, then the collision detection function is simple to implement, but erroneous collision detection occurs during non-contact intentional operations
Solution Approach 1:
The threshold value is made dynamic by switching between a first threshold value for non-contact intentional operations and a second threshold value for contact intentional operations. The control device determines the operation type and adjusts the threshold accordingly, allowing the system to adapt to different operational contexts and eliminate erroneous collision detection while maintaining simple implementation.
Solution Approach 2:
The invention changes the parameter (threshold value) based on the operation type. By setting different threshold values for different operation modes (non-contact vs. contact intentional operations), the system optimizes collision detection accuracy for each specific operational context without requiring complex additional hardware.
2Measurement precision
If a low threshold value is used to detect all collisions, then collision detection sensitivity is improved, but false positives increase during normal non-contact operations
Solution Approach 1:
Different threshold values are applied based on the local context of the operation type. For non-contact intentional operations, a higher first threshold value is used to prevent false positives during normal operation. For contact intentional operations, a lower second threshold value is used to maintain high sensitivity for detecting actual collisions. This localized adaptation of the threshold parameter resolves the contradiction between sensitivity and reliability.
Data Source
AI summary
A control device is configured to control a driving device so that an arm operates in accordance with an instruction operation, and detect a collision with another object with respect to a part where an external force is greater than a threshold value among parts of the arm. At this time, the control device switches the threshold value between a case where the instruction operation is a non-contact intentional operation that is not intended for contact with another object and a case where the instruction operation is a contact intentional operation that is intended for contact with another object.