Robot Contact Force Control Using Specific Member Selection
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Solution Overview
Problem
Existing robot control systems restrict operation efficiency when calculating external forces for safety, often resulting in overly conservative estimates that limit the robot's range and speed due to the inclusion of all potential contact points, leading to reduced work efficiency.
Innovation Solution
A controller system that selects specific robot constituent members likely to come into contact with operators, using a capsule model to estimate maximum external forces based on the state of these members, allowing for more precise control and operation without restricting non-contact members, thus preventing excessive force calculations and maintaining efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the controller calculates the external force inclusive of a margin in consideration of the safety of the operator, then the safety of the operator is improved, but the operation of the robot device is restricted and work efficiency is reduced
Solution Approach 1:
The robot device is divided into multiple constituent members, and the external force calculation is segmented to consider only those members that may contact the operator during specific work content, rather than calculating for all members uniformly. This segmentation allows safety monitoring where needed while maintaining operational freedom elsewhere.
Solution Approach 2:
Different constituent members are treated differently based on their local characteristics and contact possibilities. Members that may contact the operator during specific work content are monitored with external force calculations, while members that cannot contact are excluded from such calculations, creating a localized safety approach that does not unnecessarily restrict overall operation.
2Reliability
If the controller calculates external force for all constituent members, then the safety coverage is improved, but the calculation complexity and operation restrictions increase
Solution Approach 1:
The set of constituent members is segmented into two groups: those that may contact the operator during specific work content and those that cannot. The external force calculation is applied only to the relevant segment, reducing computational complexity while maintaining adequate safety coverage.
Solution Approach 2:
Instead of applying external force calculation to all constituent members (excessive action), the system applies it only to the partial set of members that actually pose contact risks during specific work content, eliminating unnecessary calculations and reducing system complexity.
Data Source
AI summary
This control device for a robot controls a robot that includes a plurality of component members. The control device comprises sensors for detecting action states of the component members, and a processing unit that controls actions of the robot on the basis of the outputs of the sensors. The processing unit includes a specific member setting unit that sets one or more component members among the plurality of component members as a specific member. The processing unit includes a determining unit that determines an action state of the specific member on the basis of the outputs of the sensors, and an action changing unit that changes the action of the robot on the basis of the determination result of the determining unit.