Robot Arm Force Parameter Control at Inclined Angles

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Solution Overview

Problem

Robot arms equipped with force detecting sections face reduced force detection accuracy when operated at inclined angles, as the force detection parameters are optimized for horizontal planes and do not account for changes in angle, leading to suboptimal performance.

Innovation Solution

A control method and calculation device that input and calculate proper servo and force detection parameters based on the setting angle of the robot arm, using a combination of first and second setting angles to determine a third set of parameters for accurate force detection and control, regardless of the angle.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Length of moving object

If the robot is set in an inclined state to reach the work target object, then the robot can access the workbench, but the force detection accuracy deteriorates

Engineering Contradiction:

Improvereachability of robot armVSAvoidforce detection accuracy

Core Design Contradiction:

Length of moving objectVSMeasurement precision

Solution Approach 1:

The patent applies parameter changes by dynamically adjusting force detection parameters based on the robot's setting angle. When the robot is inclined, the system calculates and applies angle-specific force detection parameters to compensate for the inclination effect, thereby maintaining accurate force detection across different operational angles

Inventive Principle:

Principle #35Parameter changes

2Ease of manufacture

If force detection parameters are set for horizontal plane operation, then the parameters are optimized for level surfaces, but they become non-optimum when the robot is inclined

Engineering Contradiction:

Improveparameter setting simplicityVSAvoidparameter adaptability to different angles

Core Design Contradiction:

Ease of manufactureVSAdaptability or versatility

Solution Approach 1:

The patent implements dynamics by making force detection parameters dynamic rather than static. The system automatically adjusts parameters based on the robot's current setting angle, allowing the same force detection section to operate optimally across varying angles without requiring manual reconfiguration or multiple fixed parameter sets

Inventive Principle:

Principle #15Dynamics

3Adaptability or versatility

If the robot arm operates at various inclined angles, then the robot can perform tasks at different positions, but the position accuracy and responsiveness decrease

Engineering Contradiction:

Improveoperational angle rangeVSAvoidposition accuracy

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The patent applies feedback by using the robot's setting angle information to dynamically adjust force detection parameters. The system continuously monitors the setting angle and applies appropriate compensation parameters, creating a closed-loop system that maintains position accuracy and responsiveness across different operational angles

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS11518026B2Control method and calculation device

Publication Date: 2022.12.06 SEIKO EPSON CORP

AI summary

A control method includes an input step for inputting information concerning a setting angle for a robot arm of a robot, the robot including the robot arm and a force detecting section that detects force applied to the robot arm, and a calculating step for calculating, based on a first force detection parameter of the force detecting section corresponding to setting at a first setting angle for the robot arm and a second force detection parameter of the force detecting section corresponding to setting at a second setting angle different from the first setting angle for the robot arm, a third force detection parameter of the force detecting section at the setting angle for the robot arm.