Robot Arm Control for Variable Work Positioning
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Solution Overview
Problem
Existing robot systems face challenges in simplifying the operation control of robot arms and hands, leading to reduced positioning accuracy and operation reliability, particularly when dealing with rotation devices where the work set part position is not constant.
Innovation Solution
A robot system with a double arm robot, equipped with a contact unit and detection unit, allows for precise control of the rotation body's position using a first and second control unit to manage the robot arms and hands, enabling accurate insertion and removal of work at predetermined positions on a rotation device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the work set part position on the rotation body is not constant, then the robot system can handle variable positioning scenarios, but the operation control complexity increases and positioning accuracy decreases
Solution Approach 1:
The detection unit detects the position of the work set part before the robot arm performs the pickup operation. The control unit receives this position information and pre-calculates the appropriate robot arm movement parameters, enabling the robot to adapt to variable positions without complex real-time control algorithms
Solution Approach 2:
The detection unit provides real-time position feedback of the work set part on the rotation body. The control unit uses this feedback information to dynamically adjust the robot arm's movement trajectory and positioning parameters, achieving accurate positioning despite variable work set part positions
2Adaptability or versatility
If the work set part position on the rotation body is not constant, then the robot system can handle variable positioning scenarios, but the positioning accuracy of the work decreases
Solution Approach 1:
The detection unit detects the position of the work set part before the robot arm performs the pickup operation. The control unit receives this position information and pre-calculates the appropriate robot arm movement parameters, enabling the robot to adapt to variable positions while maintaining high positioning accuracy
Solution Approach 2:
The system replaces complex mechanical positioning mechanisms with a detection-unit-based approach. Instead of using精密 mechanical guides or fixtures to maintain constant work set part positions, the system uses detection and control algorithms to achieve accurate positioning despite mechanical variations
Data Source
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AI summary
A robot system includes: a robot arm (103L, 103R); a robot hand (120L, 120R) provided on the robot arm (103L, 103R); a contact unit (403) provided on the robot hand (120L, 120R) for rotating a rotation body (305) of a rotation device (300) which includes the rotation body (305) capable of housing a work and a fixed part (301) rotatably supporting the rotation body (305) and which performs a predetermined process on the work (402); a detection unit (130) for detecting a detection target part (500) provided on the rotation body (305); and a first control unit (205) for controlling operation of the robot arm (103L, 103R) and the robot hand (120L, 120R) so that the contact unit (403) rotates the rotation body (305) up to a predetermined rotational position according to a result of detecting the detection target part (500) by the detection unit (130).