Robot Arm Control Apparatus for Partial Operation Correction
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Solution Overview
Problem
Current robot arm teaching methods are laborious and inefficient, requiring manual re-teaching of entire operations for modifications and failing to accurately comprehend the intended manipulation parameters, leading to poor task efficiency.
Innovation Solution
A control apparatus and method for a robot arm that includes a force detecting unit, information acquiring unit, target object force detecting unit, correction operation type determining unit, and operation correction unit to automatically correct assembly operations based on the detected forces and positions, allowing for easy and quick adaptation to changes in components or task procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If direct teaching method is used where a teaching person directly grips the robot arm to guide it to teaching points, then the robot can comprehend manipulation feel and automatically change control parameters, but the teaching process becomes very laborious and time-consuming
Solution Approach 1:
The patent segments the teaching process into two distinct phases: (1) a demonstration phase where the teaching person performs the task manually and the system records operation trajectories and forces, and (2) an automatic execution phase where the robot reproduces the task using the recorded data. This segmentation eliminates the need for time-consuming point-by-point teaching while preserving the essence of direct manipulation teaching.
Solution Approach 2:
The system performs preliminary recording of the teaching person's operations and forces during a demonstration phase before actual robot execution. This preliminary action captures all necessary information (positions, forces, operation sequences) so that the robot can automatically reproduce the task without requiring real-time teaching during execution.
2Reliability
If entire operation must be re-taught from beginning when modification is needed, then comprehensive coverage is ensured, but task efficiency deteriorates significantly
Solution Approach 1:
The patent enables segmentation of the operation trajectory into modifiable segments. When modification is needed, only the specific segment requiring change is adjusted while other segments remain intact. This allows partial re-teaching instead of complete re-teaching, maintaining reliability while dramatically improving productivity.
Solution Approach 2:
The system provides feedback mechanisms that allow comparison between the robot's executed operations and the original demonstration, enabling identification of specific segments that need modification. This feedback loop supports targeted corrections without requiring complete re-teaching of the entire operation.
3Loss of information
If the system fails to comprehend which parameter the teaching person intends to manipulate, then explicit parameter setting is required, but the teaching process becomes more complex and less intuitive
Solution Approach 1:
The patent introduces force sensors as intermediaries between the teaching person's hands and the robot arm. These sensors automatically detect and measure the forces applied during manual demonstration, converting physical manipulation into quantifiable data. This intermediary mechanism eliminates the need for explicit parameter setting while accurately capturing the teaching person's manipulation intentions.
Solution Approach 2:
The system replaces manual parameter specification with automatic force detection and measurement. Instead of requiring the teaching person to explicitly set parameters, the system uses force sensors to detect applied forces and automatically determines the intended manipulation parameters, reducing teaching system complexity.
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 efficient correction of robot arm operations by automatically determining and applying necessary corrections based on human force input, reducing labor and improving task efficiency by allowing partial modifications without re-teaching entire tasks.
Implementation Method 1
a force detecting unit that detects a person's force acting on the robot arm
Implementation Method 2
a target object force detecting unit that detects a force applied to the assembly-target object by the robot arm
Data Source
AI summary
Provided is a control apparatus for a robot arm performing assembly. The control apparatus includes an operation database recording information as to an operation of the robot arm, and includes a correction operation type determining unit determining a correction type for the operation. The control apparatus also includes a force detecting unit detecting a force of a person, and an operation correction unit correcting an operation in accordance with the force of the person and the correction type, while the robot arm is performing a task.