Robot Contact Teaching for Accurate Surface and Edge Tracing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing direct teaching methods for robots struggle when tracing surfaces or edge lines of workpieces due to unpredictable reaction forces, leading to unintended robot movements and difficulty in setting accurate teaching points.
Innovation Solution
A robot controller equipped with a first detector to sense contact with an object, allowing the setting of teaching points based on detected contact, thereby facilitating intuitive and accurate teaching of trajectories that include contact points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If positions on a trajectory are stored at predetermined time intervals, then teaching is suitable for air motion without contact, but teaching becomes difficult when contact with workpiece occurs due to unpredictable robot behavior from reaction forces
Solution Approach 1:
The patent applies feedback by using a force sensor or torque sensor to detect reaction forces during robot-workpiece contact. The detection unit continuously monitors contact state, and the control unit adjusts control signals based on this feedback to suppress unintended robot movements, enabling reliable teaching even during contact operations.
Solution Approach 2:
The patent replaces pure mechanical position-based teaching with a hybrid system that incorporates force/torque sensing and control. By substituting mechanical trajectory following with force-controlled trajectory tracing, the system can handle contact operations while maintaining teaching ease.
2Reliability
If the robot is stopped by an operator at important locations, then contact behavior issues are avoided, but the advantage of intuitive direct teaching operation is lost due to need for utmost caution
Solution Approach 1:
The patent enables the robot system to self-regulate during contact operations through automatic detection and control. The detection unit autonomously identifies contact states, and the control unit automatically adjusts control signals to maintain desired trajectory, eliminating the need for operator intervention and preserving intuitive teaching operation.
Solution Approach 2:
Real-time feedback from force/torque sensors allows the system to automatically detect and respond to contact conditions, maintaining reliability without requiring operator caution or manual stopping.
3Extent of automation
If a first detector is mounted on the robot to detect contact, then teaching points can be automatically set at contact positions, but device complexity increases
Solution Approach 1:
The patent achieves universality by using a single force sensor or torque sensor mounted on the robot that serves multiple functions: detecting contact state, determining contact position, and providing feedback for trajectory control. This multi-functional approach enables automatic teaching point setting without proportionally increasing device complexity.
Solution Approach 2:
The patent merges the detection function and control function into an integrated system. The force/torque sensor data is simultaneously used for both detecting contact events and adjusting control signals, combining multiple functions into a unified detection-control framework that minimizes additional complexity.
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
Enables easy and precise teaching of robot trajectories that trace workpiece surfaces or edges by automatically recording contact points, maintaining intuitive operation and reducing the need for caution during direct teaching.
Implementation Method 1
a force sensor or a torque sensor mounted on the robot
Implementation Method 2
a force sensor or a torque sensor mounted on the robot
Data Source
AI summary
A robot control device for controlling a robot includes a teaching point setting unit that sets, as a teaching point of a robot program, a position of the robot when contact between the robot and an object is detected on the basis of an output of a first detector that is mounted on the robot and is able to detect contact.