Human-Cooperative Robot Contact Force Detection
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Solution Overview
Problem
Human-cooperative robot systems face challenges in reliably detecting contact with external objects during operation, which can lead to unintended interactions with robots or workpieces and external objects, necessitating a method to accurately monitor and respond to contact forces.
Innovation Solution
A human-cooperative robot system equipped with handling force-detection and external force-detection parts, which calculate contact forces by subtracting handling forces from external forces, allowing for real-time monitoring and filtering of noise components, enabling the robot to stop operations or adjust speed based on detected contact forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot operates in response to handling force applied by the operator, then the ease of operation is improved, but the reliability of detecting contact with external objects deteriorates
Solution Approach 1:
The external force is segmented into two components: handling force (applied by operator) and contact force (applied by external objects). By separating these forces through calculation (contact force = external force - handling force), the system can independently monitor contact forces while maintaining handling force responsiveness, thus resolving the contradiction between ease of operation and contact detection reliability
Solution Approach 2:
The contact force calculation part acts as an intermediary that processes the relationship between external force and handling force. It computes the contact force component by subtracting handling force from external force, enabling indirect detection of contact forces without interfering with the operator's direct control of the robot through handling forces
2Object-affected harmful factors
If the robot stops operation when contact force exceeds threshold, then the safety is improved, but the productivity deteriorates
Solution Approach 1:
The robot's operational response is made dynamic based on contact force conditions. When contact force exceeds the threshold, the system automatically adjusts operation speed or stops, creating a dynamic safety mechanism that adapts to real-time contact conditions while allowing continuous operation when safe, thus balancing safety and productivity
Data Source
AI summary
A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.