Robot Arm Deflection Compensation During Workpiece Release

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Solution Overview

Problem

Conventional robot control methods face malfunctions due to inappropriate switching of compensation amounts during the transition from a gripping to a non-gripping state, potentially damaging the workpiece or causing unintended arm movement.

Innovation Solution

A robot control method that gradually varies the compensation amount for arm deflection by using multiple compensation stages and delayed opening commands to ensure smooth transitions from gripping to non-gripping states, minimizing arm movement and preventing workpiece damage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Speed

If the compensation amount is switched immediately when the opening command is output, then the response speed is improved, but the workpiece may be damaged by being pressed against the workbench due to delayed hand opening

Engineering Contradiction:

Improveresponse speed of compensation switchingVSAvoidworkpiece damage

Core Design Contradiction:

SpeedVSObject-affected harmful factors

Solution Approach 1:

The control device switches the compensation amount in advance before the hand opening operation is completed. By predicting that hand opening may be delayed and causing the arm to move toward the workpiece, the system pre-adjusts the compensation amount to prevent workpiece damage while maintaining fast response

Inventive Principle:

Principle #10Preliminary action

2Reliability

If the compensation amount is switched after waiting for a predetermined time, then the hand opening operation is securely completed, but the arm acceleration becomes large and may cause the hand to contact the workbench

Engineering Contradiction:

Improvereliability of hand opening completionVSAvoidhand contact with workbench

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

Instead of waiting for hand opening to complete before switching compensation, the system performs the compensation switching in advance. This prevents large arm acceleration and hand contact with the workbench while ensuring the hand opening operation completes reliably

Inventive Principle:

Principle #10Preliminary action

3Speed

If the compensation amount is switched when the hand is still gripping the workpiece, then the response is fast, but the workpiece acceleration becomes large and may damage the workpiece

Engineering Contradiction:

Improveresponse speed of compensation switchingVSAvoidworkpiece damage from acceleration

Core Design Contradiction:

SpeedVSObject-affected harmful factors

Solution Approach 1:

The control device switches the compensation amount before the hand opening operation completes, anticipating that the hand will still be gripping the workpiece. This gradual compensation switching prevents large workpiece acceleration and potential damage while maintaining fast response

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentEP4056330B1Robot control method

Publication Date: 2026.01.21 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD

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AI summary

When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.