Multi-Joint Robot Arm Control for Variable-Speed Surface Working
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Solution Overview
Problem
The burden of specifying multiple positions for working tasks using a multi-joint robot arm is significant, especially when working on complex surfaces, as existing systems require constant relative moving speed, leading to reduced efficiency and potential uneven working.
Innovation Solution
A robot system that includes a multi-joint robot arm with a signal output based on relative moving amounts, allowing the work controller to control the working unit without pre-specifying all positions, enabling variable speed and closer intervals on curved parts, thus preventing reduction in overall working speed and ensuring even working.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If multiple positions for working tasks are pre-specified in existing systems, then the working positions can be controlled, but the burden of specifying positions becomes significant and reduces efficiency
Solution Approach 1:
The system allows the robot to automatically determine working positions and intervals based on workpiece information and working conditions, without requiring manual pre-specification of all positions. The robot autonomously adjusts its working parameters, making the system self-sufficient in position determination.
Solution Approach 2:
The system dynamically changes working parameters such as working intervals and moving speeds based on the curvature and characteristics of the workpiece surface. By adjusting these parameters adaptively, the system eliminates the need for fixed pre-specified positions while maintaining working quality.
2Productivity
If constant relative moving speed is maintained, then the control is simple, but the working speed is reduced and uneven working occurs on curved surfaces
Solution Approach 1:
The system transitions from constant speed control to dynamic speed adjustment. The robot adjusts its moving speed based on the curvature and complexity of the workpiece surface, allowing faster movement on linear sections and slower movement on curved sections, thereby maintaining both high productivity and working uniformity.
Solution Approach 2:
The system changes the moving speed parameter dynamically according to the workpiece geometry. By monitoring the curvature and adjusting the speed parameter in real-time, the system achieves uniform working quality across different surface types while maintaining overall high working speed.
3Manufacturing precision
If the working interval is fixed, then the specification is simple, but the working quality becomes uneven on complex surfaces
Solution Approach 1:
The system dynamically adjusts the working interval parameter based on the curvature and complexity of the workpiece surface. On curved or complex surfaces, the interval is automatically reduced, while on linear surfaces, the interval can be larger. This adaptive parameter adjustment maintains working quality without requiring complex manual specification.
Solution Approach 2:
The system uses feedback from workpiece information (such as curvature data) to automatically adjust working intervals. The control system receives information about the workpiece geometry and dynamically modifies the working parameters, eliminating the need for complex pre-specification while ensuring consistent quality.
Data Source
AI summary
A robot system (100) includes a multi-joint robot arm (10), a robot controller (21), a working unit (30), a signal output (22) to output a signal based on a relative moving amount of the working unit by each relative moving amount of the working unit relative to the workpiece, and a work controller (40) configured or programmed to control working of the working unit with the workpiece based on the signal output by the signal output.