Robot Arm Deflection Compensation During Workpiece Release

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Conventional robot control methods face malfunctions when deflection compensation of the arm is performed after a workpiece is brought into a non-gripping state, particularly due to inappropriate timing of the actual gripping state and the switching of compensation amounts, which can result in the workpiece being damaged.

Innovation Solution

A robot control method that compensates for arm deflection by gradually decreasing the compensation amount while the arm moves from a first teaching point to a second teaching point after the workpiece is brought into a non-gripping state, thereby preventing unintended arm movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Speed

If the compensation amount is switched immediately after the opening command is output, then the deflection compensation response is fast, but the workpiece may be damaged by being pressed against the workbench due to delayed hand opening

Engineering Contradiction:

Improvedeflection compensation response speedVSAvoidworkpiece safety

Core Design Contradiction:

SpeedVSReliability

Solution Approach 1:

The system performs preliminary action by outputting the hand opening command before switching the compensation amount. This ensures the hand has already started opening before the compensation amount changes, preventing workpiece damage while maintaining responsive deflection compensation. The timing sequence is: hand opening command → hand opening completes → compensation amount switch.

Inventive Principle:

Principle #10Preliminary action

2Reliability

If the compensation amount is switched after waiting for a predetermined time, then the hand opening is secure, but the arm acceleration becomes large and the hand may contact the workbench

Engineering Contradiction:

Improvehand opening completionVSAvoidarm collision with workbench

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The system applies dynamics by making the compensation amount change gradually rather than abruptly. The compensation amount transitions from the first value to the second value over a predetermined period, which reduces arm acceleration and prevents collision with the workbench while still ensuring reliable hand opening completion.

Inventive Principle:

Principle #15Dynamics

3Object-affected harmful factors

If the compensation amount is changed to gradually decrease while moving the gripping part, then the arm acceleration is controlled, but the control complexity increases

Engineering Contradiction:

Improvearm collision preventionVSAvoidcontrol system complexity

Core Design Contradiction:

Object-affected harmful factorsVSDevice complexity

Solution Approach 1:

The system changes parameters by transitioning the compensation amount from a first value to a second value over a predetermined period. This parameter change approach controls arm acceleration to prevent collision while adding minimal control complexity, as it involves simply timing the compensation amount transition rather than complex dynamic control algorithms.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS12280504B2Robot control method

Publication Date: 2025.04.22 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD

AI summary

When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.