Robot Manipulation Control for Collision Recovery Direction
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Solution Overview
Problem
Existing robot collision management systems, such as those described in Japanese Patent Laid-Open No. 2018-051686, often result in trial-and-error operations that can apply excessive loads to robots and require unnecessary simulation models, especially when objects near the robot are not fixed in position, leading to inefficient recovery from interfering states.
Innovation Solution
A manipulation apparatus and control method that determine a safe manipulation direction for a robot based on the direction of load received from an object during interference, using force and current sensors to specify the interference direction and restrict user input to avoid further interference, thereby preventing excessive loads and enabling efficient recovery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If trial-and-error operation is used to restore the robot from interfering state, then the robot can recover from collision, but excessive loads are applied to the robot and operation time is increased
Solution Approach 1:
The system performs preliminary analysis of the interfering state by detecting load direction and calculating safe manipulation directions before actual recovery operation. This preliminary action identifies the optimal recovery path, preventing trial-and-error operations that would apply excessive loads to the robot.
2Reliability
If 3D model simulation is used to restore the robot from interfering state, then the robot operation can be restored, but device complexity is increased and object position specification is required
Solution Approach 1:
The system extracts only the essential information needed for recovery - the load direction from force sensors and current robot state - and uses this minimal data to determine safe manipulation directions. This eliminates the need for complex 3D simulation models and object position specifications, reducing device complexity while maintaining recovery reliability.
Data Source
AI summary
A manipulation apparatus configured to manipulate a robot includes a processor configured to, in a case where the robot interferes with an object and on a basis of a direction in which the robot receives a load from the object, determine a manipulation direction in which a manipulation of the robot is acceptable.