Robot Arm Control Apparatus for Teaching Adaptability
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Solution Overview
Problem
Current methods for teaching robot operations are time-consuming and difficult for amateurs, especially in home environments where environmental variations are unpredictable, and require complex programming and force detection challenges.
Innovation Solution
A control apparatus and method for a robot arm that includes an operation information acquiring unit, grabbed position detection unit, characteristic information acquiring unit, control method switching unit, and operation correcting unit to adjust control methods based on the grabbed position and applied force, allowing for real-time correction of operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If all teaching points are taught by the teaching person directly grabbing the robot arm, then the robot can be taught operations in the home environment, but the teaching process takes a long time
Solution Approach 1:
The patent applies preliminary action by pre-teaching operations to the robot before actual use. The teaching person teaches the robot arm operations in advance using a teaching pendant, storing operation information including position, orientation, and force data. This pre-programming allows the robot to execute operations automatically during actual home service tasks, significantly reducing the time needed during actual operation while maintaining adaptability to home environments.
2Adaptability or versatility
If programming process by remote control apparatus is used to revise taught movements, then operation revision is possible, but manipulation steps increase and programming language learning is required
Solution Approach 1:
The patent uses a teaching pendant as an intermediary device that simplifies the programming process. Instead of requiring complex programming language knowledge, the teaching pendant provides an intuitive interface where the teaching person can directly manipulate the robot arm and input operation parameters through simple buttons and displays. This intermediary device translates complex programming tasks into straightforward manual operations, making operation revision accessible to amateurs without programming expertise.
3Measurement precision
If force sensor is attached to detect applied force for distinguishing person's force from external disturbance, then accurate force detection is possible, but device complexity increases
Solution Approach 1:
The patent applies self-service by utilizing the robot arm's own drive mechanism to detect applied force. Instead of adding external force sensors, the system monitors the driving force or torque generated by the robot arm's motors during operation. When a person grabs or manipulates the robot arm, the change in driving force is detected by the existing drive system, enabling accurate force detection without additional sensors. This approach maintains measurement precision while avoiding increased device complexity.
Data Source
AI summary
After switching a control method for a robot arm based upon characteristic information containing pieces of information relating to a grabbed position of the robot arm by a person and a presence/absence of detection of a force as well as to presence/absence of influences from a drag, during an operation of the robot arm, by a control method switching unit, information relating to the force of operation information is corrected by an operation correcting unit in response to a manipulation of the person.