Robot Arm Stiffness Control via Pressure Sensor Feedback
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Solution Overview
Problem
Existing robot arm control systems lack accuracy in operation, as they do not effectively manage stiffness during movement, leading to potential errors and damage when interacting with objects.
Innovation Solution
An information processing apparatus with a stiffness control unit that adjusts the stiffness of a robot arm's joints based on pressure sensor data, allowing for precise control and storage of stiffness settings in association with specific motions, enhancing the robot arm's ability to accurately perform tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If stiffness is increased to improve operation accuracy, then positioning precision improves, but the robot arm becomes more rigid and prone to damage during interaction with objects
Solution Approach 1:
The patent applies dynamics by making the stiffness of the robot arm adjustable rather than fixed. The stiffness control unit dynamically modifies stiffness parameters based on operational context, allowing the system to transition between high-stiffness modes (for positioning accuracy) and low-stiffness modes (for safe interaction), thereby resolving the contradiction between precision and damage risk
Solution Approach 2:
The patent implements parameter changes by modifying stiffness parameters in response to pressure sensor feedback. When the pressure sensor detects contact forces exceeding thresholds, the system adjusts stiffness parameters to reduce rigidity, preventing damage while maintaining positioning precision during normal operation through parameter adaptation
2Object-affected harmful factors
If stiffness is decreased to reduce damage risk, then safety improves, but operation accuracy and positioning precision deteriorate
Solution Approach 1:
The system uses dynamic stiffness adjustment where the stiffness control unit receives real-time feedback from pressure sensors and modifies stiffness parameters accordingly. This allows the robot arm to maintain high stiffness for positioning accuracy during normal operation and switch to low stiffness when contact forces indicate potential damage scenarios
Solution Approach 2:
The patent implements feedback control through pressure sensors that continuously monitor contact forces. The detected pressure information is fed back to the stiffness control unit, which adjusts stiffness parameters in real-time to maintain both positioning precision and safety, resolving the contradiction between accuracy and damage prevention
3Manufacturing precision
If stiffness control is added to improve operation accuracy, then positioning precision improves, but system complexity increases
Solution Approach 1:
The stiffness control unit serves multiple functions: it adjusts stiffness for positioning accuracy, responds to pressure sensor feedback for safety, and integrates with the existing robot arm control system. This multi-functionality reduces the need for separate systems and minimizes overall complexity while achieving improved operation accuracy
Solution Approach 2:
The stiffness control unit acts as an intermediary between the pressure sensors and the robot arm actuation system. It processes sensor feedback and translates it into appropriate stiffness adjustments, simplifying the control architecture by providing a dedicated mediation layer rather than requiring complex direct coupling between sensors and actuators
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
The system enables accurate and precise operation of the robot arm by dynamically adjusting stiffness in response to pressure inputs, reducing the risk of damage and improving task performance by aligning stiffness settings with intended motions.
Implementation Method 1
a pressure sensor provided at a position using a joint of a robot arm as a reference
Data Source
AI summary
An information processing apparatus according to an embodiment of the present technology includes a stiffness control unit. The stiffness control unit controls, on the basis of a detection result of a pressure sensor provided at a position using a joint of a robot arm as a reference, stiffness regarding driving of the joint of the robot arm. In this information processing apparatus, for example, an operator is able to simultaneously set stiffness while inputting motion, and therefore the operator's labor associated with the input of the motion and the setting of the stiffness is reduced. Accordingly, the robot arm can be accurately driven.