Robot Arm Control Apparatus Real-Time Operation Correction
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Solution Overview
Problem
Current methods for teaching and controlling robot arms, especially in home-service robots, are time-consuming and difficult for amateurs, requiring extensive programming and are inefficient when environmental changes occur, leading to errors in operation.
Innovation Solution
A control apparatus and method for a robot arm that includes an information acquiring unit, a position control unit, and an operation correction unit, allowing for the acquisition and correction of operation information in real-time based on user input, enabling flexible adaptation to changing environments and reducing teaching time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If all teaching points are taught by a teaching person using direct manipulation, then the robot can learn operations, but the teaching process takes a long time
Solution Approach 1:
The system pre-stores operation information including position, orientation, and speed data in a database before actual operation. This preliminary preparation allows the robot to execute operations without time-consuming real-time teaching, resolving the contradiction between teaching completeness and teaching time by having all necessary operational parameters ready in advance.
Solution Approach 2:
The system creates a digital copy of operation information from teaching point data and stores it in a database. This copied information can be repeatedly used without requiring repeated physical teaching, significantly reducing teaching time while maintaining complete operational capability.
2Adaptability or versatility
If programming process is used with remote control apparatus, then operations can be revised, but the operation steps increase and programming language learning is required
Solution Approach 1:
The system provides feedback by displaying operation information from the database and allowing simple selection or modification through the operation information input unit. Users can see current operations, make minor adjustments, and save changes without complex programming, maintaining adaptability while simplifying operation to basic input tasks.
Solution Approach 2:
The database acts as an intermediary between the teaching pendant and the robot execution system. It stores operation information in a structured format that can be easily queried, displayed, and modified through simple interfaces, eliminating the need for direct programming while enabling flexible operation revision.
3Adaptability or versatility
If teaching is done for all possible environments, then the robot can handle varied environments, but it is difficult to estimate all environments in advance
Solution Approach 1:
The system dynamically adapts to environmental changes by allowing real-time modification of operation information through the operation information input unit. Instead of statically pre-programming all possible environments, the robot can adjust its operations based on current environmental conditions, achieving environmental adaptation through flexible, dynamic modification rather than exhaustive pre-teaching.
Solution Approach 2:
The database stores universal operation information that can be applied across multiple environments. The operation information input unit provides a universal interface for modifying operations regardless of specific environmental variations, allowing a single system to handle diverse environments through standardized, flexible information management rather than environment-specific programming.
4Adaptability or versatility
If operation information is corrected in real-time during robot arm movement, then adaptability to environment changes is improved, but control complexity increases
Solution Approach 1:
The control system segments operation information into discrete, manageable parameters (position, orientation, speed) stored in the database. Each parameter can be independently corrected through the operation information input unit during robot arm movement, allowing real-time adaptation without requiring complex holistic control modifications. The segmentation enables simple, parameter-by-parameter adjustment rather than complex system-wide control changes.
Data Source
AI summary
A control apparatus for a robot arm includes an operation information database in which pieces of information relating to operations of the robot arm are stored, a force detection unit that detects a force of a person, and an operation correction unit that corrects the operation information of the operation information database in accordance with the force of the person.