Robot Arm Trajectory Replay With Pressing Force Control
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Solution Overview
Problem
Existing robot systems struggle to reproduce complex actions similar to those performed by a user, as they primarily focus on maintaining a constant force without accounting for the intricate movements involved in user-operated treatments.
Innovation Solution
A robot system incorporating a master-slave configuration with a controller that records and reproduces the trajectory and pressing force of a user's actions, using a contact force sensor and operating force sensor to mimic the user's movements and forces, allowing for both attenuation and elasticity controls.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot system maintains a constant polishing force on the object, then the force control is simple and stable, but the robot cannot reproduce complicated actions similar to user-operated movements
Solution Approach 1:
The system records the master device's operation trajectory and pressing force during teaching mode, then reproduces this recorded data during automatic mode. This copying approach enables the slave device to replicate complicated user actions while maintaining consistent treatment quality, resolving the contradiction between simple force control and complex action reproduction capability
2Device complexity
If the robot system focuses only on maintaining constant force, then the control system is simple, but it cannot account for intricate movements involved in user-operated treatments
Solution Approach 1:
The control system separates trajectory control and force control into independent yet coordinated functions. The trajectory controller reproduces the recorded path while the force controller maintains appropriate pressing force, with both working together to achieve precise treatment. This segmentation allows the system to handle intricate movements without excessive overall complexity
3Measurement precision
If the robot reproduces the exact user trajectory, then the action reproduction is accurate, but the system cannot adapt to surface irregularities and disturbances
Solution Approach 1:
The system dynamically adjusts the slave device's movements based on real-time feedback from force sensors and position sensors. While following the recorded trajectory, the system can modify pressing force and movement speed to accommodate surface irregularities, achieving both accurate reproduction and adaptive capability through dynamic control
Data Source
AI summary
A controller of a robot system performs first control of controlling a robot arm in accordance with an operation with an operator to thereby cause an end effector to apply a treatment to an object and of recording trajectory data and second control of controlling the robot arm based on the trajectory data recorded in the first control to thereby move the end effector such that the end effector reproduces a moving trajectory and applies a treatment to the object. In the second control, in controlling the robot arm based on the trajectory data, the controller controls a pressing force of the end effector against the object.