Robot Control Apparatus for Coordinated Translation and Rotation
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Solution Overview
Problem
Current robot control systems struggle to restrict the movement of robot end-effectors in rotation directions and other movable parts, such as joints, using force control, leading to unintended operations.
Innovation Solution
A robot control apparatus that designates control values and threshold values according to specific coordinate systems, allowing precise operation within designated ranges, including rotation angles and positions, to prevent unintended movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If force control is used to restrict movement at taught points, then translation direction control is improved, but rotation direction control and other movable parts control deteriorate
Solution Approach 1:
The control space is segmented into multiple coordinate systems (taught point coordinate system, robot coordinate system, joint coordinate system) with different threshold value sets. Each coordinate system handles specific control aspects: taught point coordinate system for translation control, joint coordinate system for rotation control. This segmentation allows force control to effectively restrict movements in all directions and at all movable parts simultaneously.
2Manufacturing precision
If force control is applied at taught points, then position control is improved, but control of other movable parts such as joints deteriorates
Solution Approach 1:
Multiple coordinate systems act as intermediaries between the force detection unit and the robot control. The taught point coordinate system mediates position control, while the joint coordinate system mediates joint rotation control. These intermediary coordinate systems transform force detection information into appropriate control actions for different parts of the robot, ensuring reliable control of both distal end position and joint movements.
3Manufacturing precision
If threshold values are designated for each axis in taught point coordinate system, then translation control is improved, but rotation control capability deteriorates
Solution Approach 1:
The control apparatus achieves multi-functionality by designating threshold values in multiple coordinate systems. The taught point coordinate system threshold values handle translation control, while the joint coordinate system threshold values handle rotation control. This universal approach allows the same force control mechanism to effectively control both translation and rotation movements through different coordinate system representations.
Data Source
AI summary
A robot control apparatus includes a robot control part that controls a robot; and a force detection information acquisition part that acquires force detection information from a force detection unit. The robot control part, in which a range of control values for operating a robot by force control based on the force detection information is designated, operates the robot based on the control values and the designated range.