Articulated Robot Arm Hold Detection for Selective Joint Release
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional articulated robot systems require users to manually release axis constraints by pressing and holding buttons, which is inconvenient and time-consuming, especially when performing direct teaching tasks, as users need to stop manipulation to select axes or set constraint conditions.
Innovation Solution
A robot system with detection units on each arm that automatically releases axis constraints when a user manually holds the arm, allowing intuitive movement without the need for button operation, and constrains other arms not being held, preventing unintended motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If button operation is used to release axis constraints, then axis constraints can be released, but user convenience deteriorates due to needing to press and hold buttons with one hand while manipulating with the other
Solution Approach 1:
The system automatically detects when a user is holding an arm and autonomously releases the constraints for that axis, eliminating the need for manual button pressing. The detection unit senses the hold action and the control unit automatically responds by releasing constraints, making the system self-serve the user's intent without requiring additional operational steps.
2Measurement precision
If teaching pendant operation is used to select axes and set constraint conditions, then precise control is achieved, but time consumption increases due to needing to stop manipulation for configuration tasks
Solution Approach 1:
The system continuously monitors and detects user hold actions in real-time, maintaining readiness to release constraints immediately when needed. This preliminary detection capability eliminates the need for preliminary configuration steps through teaching pendant, as the system is already prepared to respond to user intent instantaneously.
Solution Approach 2:
The patent replaces the mechanical interaction of pressing buttons on a teaching pendant with an automatic detection system that senses user hold actions. This substitution eliminates the need for manual configuration operations while maintaining precise control, as the detection unit automatically identifies which axis the user intends to manipulate.
3Ease of operation
If all axes are released for direct manipulation, then ease of movement is improved, but safety deteriorates due to unexpected movement of axes not being manipulated
Solution Approach 1:
The system applies different constraint states to different axes based on local user interaction. When a user holds a specific arm, only the corresponding axis and necessary connected axes are released from constraints, while other axes remain constrained. This localized release of constraints provides ease of movement for the manipulated arm while maintaining safety by keeping other axes constrained against unintended motion.
Data Source
AI summary
In a robot system provided with an articulated arm, information showing whether or not an operator holds one or more of a plurality of arms of the articulated arm. An operator's holding state of the arms are determined based on the detected information. Based on results of the determination, the rotation of motors provided at axes (joints) is controlled for selectively controlling a constrained state which constrains the rotation of the axes and release of the constrained state.