Robot Arm Contact Change Detection Using Force and Acceleration
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Solution Overview
Problem
Existing contact detection methods for robot arms are inaccurate, slow, and prone to false positives due to the sensitivity of force/torque and acceleration sensors, making precise detection of contact with external objects challenging.
Innovation Solution
A method that combines force and acceleration sensing to detect changes in contact between a robot arm and an object, using a force sensor and an acceleration sensor to provide accurate and robust contact detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force/torque sensors are used for contact detection, then contact detection capability is provided, but false positives occur due to high sensitivity
Solution Approach 1:
The patent combines force/torque sensor data with acceleration sensor data to detect contact events. By merging these two sensing modalities, the system achieves more reliable contact detection than using force sensors alone, as the acceleration data helps distinguish actual contact events from false positives caused by vibrations or external forces.
Solution Approach 2:
The system uses feedback from both force/torque sensors and acceleration sensors to continuously monitor and adjust contact detection. The acceleration feedback helps validate force sensor readings, allowing the system to confirm whether a detected force change represents a genuine contact event or a false positive, thereby improving overall detection reliability.
2Speed
If acceleration sensors are used for contact detection, then detection speed is improved, but measurement precision deteriorates due to sensitivity to vibrations and external forces
Solution Approach 1:
The patent merges acceleration sensor data with force/torque sensor data to achieve both fast and accurate contact detection. The acceleration sensor provides rapid detection capability, while the force/torque sensor validates the detection accuracy, compensating for the acceleration sensor's susceptibility to vibrations and external forces.
Solution Approach 2:
The force/torque sensor acts as an intermediary that validates acceleration-based contact detections. When the acceleration sensor detects a potential contact event, the force/torque sensor serves as a mediator to confirm whether the event is genuine, filtering out false positives caused by vibrations or external forces while maintaining fast detection response.
3Force
If only force sensors are used for contact detection, then contact force measurement is provided, but detection accuracy deteriorates due to inability to distinguish contact from vibrations
Solution Approach 1:
The patent combines force sensor measurements with acceleration sensor measurements to distinguish between contact forces and vibrations. By merging these two data streams, the system can analyze the relationship between force changes and acceleration patterns, enabling accurate differentiation between genuine contact events and vibration-induced force variations.
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
Enables fast and reliable detection of contact changes, reducing false indications and allowing for precise contact-based programming of robot arms.
Implementation Method 1
obtaining a contact force provided at a contact part of the robot arm by sensing a force provided to a part of the robot arm
Implementation Method 2
obtaining the part acceleration of the contact part of the robot arm by sensing the acceleration of the part of the robot arm
Data Source
AI summary
A method of detecting change in contact between a contact part of a robot arm and an object as defined by the independent claims, by obtaining a contact force provided at the contact part of the robot arm by sensing a force provided to a part of said robot arm; and by obtaining the part acceleration 5 of the contact part of the robot arm by sensing the acceleration of at least a part of the robot arm and then indicate if a change in contact between the contact part of the robot arm and the object has occurred based on the obtained contact force and the obtained contact part.