Robot Arm Force Sensor Initialization During Uniform Motion

The patent applies the dynamics principle by enabling zero-point correction to be performed during the robot arm's movement phase rather than requiring the arm to be stationary. The control unit dynamically adjusts the force sensor output by subtracting the detection value during movement from the detection value during work, allowing initialization to occur throughout the movement period. This transforms a previously static correction process into a dynamic one that occurs during normal operation, thereby improving productivity without sacrificing measurement precision.

The patent implements continuity of useful action by making the zero-point correction process continuous throughout the robot arm's movement rather than being a discrete stop-and-correct operation. The control unit continuously accumulates force sensor detection values during movement and uses them for correction during subsequent work phases. This eliminates idle time and ensures that the correction process is integrated into the continuous workflow, improving cycle time while maintaining accurate force detection.

The patent applies the extraction principle by separating the force sensor from the high-speed rotating tool and placing it on the robot arm instead. This removes the force sensor from the noisy, vibrating environment of the rotating tool while maintaining its ability to measure polishing forces. The control unit then processes the sensor data to compensate for any distance-related measurement variations, thereby eliminating the harmful effects of vibration and noise while preserving ease of operation.

The patent uses the robot arm as an intermediary between the control system and the polishing tool. By placing the force sensor on the robot arm rather than directly on the rotating tool, the arm acts as a mediator that transmits force information from the tool to the sensor in a more stable environment. This intermediary positioning reduces the direct impact of high-speed rotation vibrations on the sensor while still allowing accurate measurement of the polishing forces applied to the workpiece.