Robot Arm Control Device Using Pressure Sensing for Intuitive Teaching
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Solution Overview
Problem
Current robot arm control systems lack intuitive programmability, requiring tedious and time-consuming editing of movement paths through programming languages, and do not provide an intuitive interface for users to edit the movement path of the robot arm.
Innovation Solution
A control device and teaching system for a robot arm that includes a pressure sensing module with a touch-sensing surface for detecting operation commands, allowing for compliance teaching and position control, enabling intuitive editing of the movement path through lead-through operations and switching between compliance teaching and touch operating modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional programming languages or application programs are used to edit the movement path of the robot arm, then the robot arm can be controlled to follow the expected trajectory, but the programming process becomes tedious and time consuming
Solution Approach 1:
The patent replaces the conventional programming interface (keyboard, screen, programming language) with a tactile touch-sensing surface that allows direct manual manipulation. The operator can physically touch and drag the robot arm's end effector along the desired path, and the system automatically records the trajectory. This substitutes complex programming operations with intuitive tactile interactions, dramatically reducing programming time while maintaining trajectory accuracy through the control module's automatic path generation.
Solution Approach 2:
The touch-sensing surface acts as an intermediary between the operator and the robot arm control system. Instead of communicating through programming languages, the operator's tactile interactions with the touch-sensing surface are directly translated into robot arm movement commands. This intermediary interface bridges the gap between human intuition and machine execution, enabling natural lead-through programming without tedious coding.
2Device complexity
If no intuitive input interface is provided between the robot arm and the user, then the system structure remains simple, but the ease of operation deteriorates due to lack of intuitive programmability
Solution Approach 1:
The touch-sensing surface serves multiple functions: it acts as a display interface, a control interface, and a teaching interface simultaneously. The same surface allows operators to view robot arm positions, manipulate the end effector for path teaching, and receive feedback about the current trajectory. This multi-functionality provides intuitive programmability without requiring separate complex interfaces, maintaining relatively simple system structure while dramatically improving ease of operation.
3Measurement precision
If the robot arm requires precise position control through conventional programming, then the positioning accuracy is improved, but the complexity of the control system increases
Solution Approach 1:
The system enables the robot arm to teach itself the desired trajectory through the lead-through method. When the operator manually moves the end effector along the target path, the control module automatically records the position data and generates the corresponding control commands. The robot arm essentially learns the path through direct physical guidance, eliminating the need for complex pre-programming and path calculation algorithms, thereby maintaining positioning accuracy while reducing control system complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables intuitive and efficient editing of the robot arm's movement path, improving user interaction and reducing the complexity of programming by allowing direct teaching and precise control of the robot arm's trajectory.
Implementation Method 1
a pressure sensing module having a touch-sensing surface for detecting an operation command applied to the touch-sensing surface
Data Source
AI summary
A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.