Robot Arm Teaching Near Singular Posture Using Escape Postures
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Solution Overview
Problem
Existing robot teaching methods face challenges when the robot arm approaches a singular posture, leading to unstable motion and difficulty in changing posture, requiring skilled operator intervention and direct force application to avoid motion instability.
Innovation Solution
A teaching method that determines if the robot arm is near a singular posture and selects an escape posture from predefined candidates based on external force detection, allowing for stable posture adjustment without continuous operator force application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If direct teaching is performed when the robot posture is close to singular posture, then the robot can be taught positions and postures, but the motion becomes unstable and it is difficult to change posture
Solution Approach 1:
The patent introduces an intermediary mechanism (escape posture selection function) that mediates between the operator's teaching input and the robot's motion execution. When singular posture is detected, the system automatically selects alternative postures from predefined candidates, acting as a buffer that prevents direct transmission of unstable motion commands to the robot arm.
Solution Approach 2:
The system implements feedback by continuously monitoring the robot's current posture and comparing it against singular posture conditions. When the robot approaches a singular configuration, the feedback mechanism triggers automatic escape posture selection, creating a closed-loop control that stabilizes teaching operations without requiring operator awareness or intervention.
2Reliability
If force control in a different mode is performed to reduce motion instability near singular posture, then motion stability improves, but operator skill requirements increase and teaching becomes more difficult
Solution Approach 1:
The system performs self-service by automatically detecting singular posture conditions and selecting appropriate escape postures without operator intervention. The control unit monitors the robot's state and autonomously executes posture corrections, making the system self-regulating and eliminating the need for operators to master complex force control techniques.
Solution Approach 2:
The patent applies preliminary action by pre-defining multiple escape posture candidates before teaching operations begin. When singular posture is detected, the system selects from these pre-prepared alternative postures, eliminating the need for real-time complex calculations or operator skill in selecting appropriate escape maneuvers.
3Productivity
If the robot arm moves at higher speed near singular posture, then productivity increases, but motion instability increases and teaching becomes unreliable
Solution Approach 1:
The system dynamically adjusts the robot's operational parameters based on real-time posture conditions. When approaching singular configurations, the control unit automatically modifies motion characteristics by selecting escape postures, creating a dynamic adaptation mechanism that maintains teaching reliability regardless of speed requirements.
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 stable and efficient adjustment of the robot arm's posture by automatically selecting an escape posture when near a singular posture, reducing operator skill requirements and motion instability.
Implementation Method 1
a force detection unit that detects an external force applied to the robot arm
Data Source
AI summary
A teaching method of driving a robot arm by a drive unit based on a detection result of a force detection unit and storing a position and a posture of the driven robot arm in a memory unit, includes determining whether or not the posture of the robot arm is close to a singular posture, and, when determining that the posture of the robot arm is close to the singular posture, selecting and executing one escape posture from a plurality of escape posture candidates escaping from the posture close to the singular posture according to an external force detected by the force detection unit.