Robot Arm Motion Correction for Guided Position and Posture Adjustment
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Solution Overview
Problem
Existing robot systems lack efficiency in adapting to varying work environments and require significant human intervention for accurate positioning and posture adjustments, leading to labor-intensive cooperative work between humans and robots.
Innovation Solution
A robot system with a multi-articular arm and circuitry that performs normal control, force guide control, and correction control, allowing external force manipulation to adjust the robot's position and posture based on a motion program, thereby reducing human labor and improving accuracy in dynamic work environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional robot control methods are used with pre-programmed motion paths, then the robot can perform repetitive tasks with high precision, but the system lacks adaptability to varying work environments and requires significant human intervention for positioning adjustments
Solution Approach 1:
The robot system performs self-positioning and self-posture adjustment by detecting its own state and autonomously correcting deviations from the motion program. The control circuitry continuously monitors the robot's actual position and posture, compares it with target values, and automatically generates correction commands without requiring external human intervention, enabling the system to adapt to environmental variations independently
Solution Approach 2:
The system implements closed-loop feedback control where the control circuitry receives information about the robot's actual position and posture from sensors, compares this feedback with the target motion program, and automatically adjusts the motion commands to correct any deviations. This feedback mechanism enables continuous adaptation to varying work environments while maintaining high positioning accuracy
2Adaptability or versatility
If the robot follows a strict pre-programmed motion program, then manufacturing precision is maintained, but the system cannot adapt to real-time environmental changes or unexpected conditions
Solution Approach 1:
The motion program is transformed from a static, fixed sequence of commands into a dynamic control system that can be modified in real-time. The control circuitry continuously updates the target position and posture based on environmental feedback and robot state, allowing the motion program to adapt dynamically to changing conditions while maintaining precision through automated correction mechanisms
Solution Approach 2:
The system performs preliminary detection of environmental conditions and robot state before executing motion commands. By anticipating potential deviations and preparing correction strategies in advance, the system can maintain manufacturing precision while adapting to environmental changes. The control circuitry pre-calculates correction commands based on detected deviations, enabling smooth transitions that preserve positioning accuracy
Data Source
AI summary
A robot system includes a robot including leading end, base, and multi-articular arm, and circuitry that controls the atm to move the end based on motion control program specifying transition over time of target position and posture of the end, the transition including correction target portion starting and ending in the transition; controls the arm to move the end in response to guided manipulation applying external force to the robot while the circuitry controls the arm; obtains relative command information based on the target position and posture at start of the correction portion and specifying the target position and posture at points in the correction portion including start and end in the correction portion; and controls the arm to move the end from the position and posture based on the information, beginning at time when movement of the arm controlled by the circuitry in response to the manipulation has ended.