Robot Arm Haptic Feedback for Intuitive Force-Based Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot arm control systems lack intuitive and simple control mechanisms for operators, particularly in collaborative robotics scenarios where human-machine interaction is crucial.
Innovation Solution
A robot arm control system that incorporates haptic feedback, where the manipulator arm determines the forces exerted by the operator and transmits this information to a controller, allowing for simultaneous control of the manipulator arm and holding device based on these forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robot arm control is implemented through traditional program-based or external axis methods, then automation and precision are improved, but operator intuition and control simplicity deteriorate
Solution Approach 1:
The patent implements haptic feedback by allowing the operator to physically move the robot arm through a range of motion, with force sensors detecting the operator's input forces and the system providing proportional haptic resistance. This creates an intuitive force-feedback loop where the operator's physical movements directly control the robot arm's movements in real-time, combining automation with natural human intuition and simplicity.
2Measurement precision
If force sensors and haptic feedback mechanisms are added to the robot arm, then operator intuition and control precision are improved, but device complexity increases
Solution Approach 1:
The patent merges the force sensing capability and haptic feedback actuation into the existing robot arm structure. The force sensors are integrated into the arm's mechanical components, and the haptic feedback is provided through the same mechanical linkage that transmits operator input. This integration approach provides precise force detection and haptic feedback without requiring separate complex systems.
3Ease of operation
If the robot arm is made more compliant to follow operator movements, then ease of operation is improved, but control precision and stability deteriorate
Solution Approach 1:
The patent implements dynamic control where the robot arm's compliance and stiffness are adjusted in real-time based on the operator's input forces and the desired trajectory. The control system maintains stability by dynamically adapting the arm's mechanical impedance, allowing easy operator manipulation while ensuring precise positioning and stable control throughout the motion range.
Data Source
AI summary
A robot for holding and processing a workpiece includes: a controller for controlling: a holding device, and a manipulator arm; and a multi-link manipulator arm, which has a handle piece, wherein the manipulator arm can determine forces exerted on the handle piece of the manipulator arm and transmit corresponding information to the controller. A holding device may be connected to the controller for information purposes for holding the workpiece. The holding device can move the workpiece linearly or rotationally, and the controller can control the holding device or the manipulator arm to move a position of the workpiece relative to the manipulator arm linearly or rotationally in accordance with the forces determined via the manipulator arm. The controller may also deflect the handle piece of the manipulator arm linearly or rotationally from a starting position simultaneously with the actuation of the holding device based on the determined forces.