Robot Control Apparatus External Force Judgement Restart Logic
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Solution Overview
Problem
Existing robot control systems face challenges in accurately distinguishing between external forces and internal vibrations, leading to unnecessary stops and restarts, which affect productivity and safety, especially in collaborative robot environments where vibrations from nearby machinery can trigger false force detections.
Innovation Solution
A robot control apparatus that includes an external force estimation unit, a stop command unit, and a judgement value storage unit to differentiate between external forces and internal vibrations by setting specific judgement values and time lengths for stopping and restarting the robot's operation program, ensuring safe and efficient operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot stops when external force is detected, then safety is improved, but productivity deteriorates due to unnecessary stops and restarts
Solution Approach 1:
The patent applies parameter changes by introducing multiple threshold values (first threshold, second threshold) and time parameters (first time length, second time length) to differentiate between genuine external forces requiring safety stops and transient vibrations that can be ignored. This multi-parameter approach allows the system to maintain safety while reducing unnecessary stops that harm productivity.
2Productivity
If the robot restarts immediately after stopping, then productivity is improved, but safety deteriorates due to potential premature restarts
Solution Approach 1:
The patent implements preliminary action by requiring the external force to remain below the first threshold for a predetermined first time length before allowing restart. This preliminary verification period ensures that transient vibrations do not trigger premature restarts, maintaining safety while enabling quick recovery when appropriate.
3Measurement precision
If multiple judgement values and time lengths are introduced, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent uses parameter changes by defining multiple threshold values and time lengths that can be adjusted based on specific application requirements. This approach improves measurement precision in distinguishing external forces from vibrations while keeping the control logic relatively simple through systematic parameter management.
Data Source
AI summary
A robot control apparatus includes a stop command unit which stops a robot. A first external force judgement value smaller than a stop judgement value and a second external force judgement value smaller than the first external force judgement value are previously determined. The stop command unit inhibits a restart of execution of an operation program when, in a state where the execution of the operation program is temporarily stopped, an external force is continuously equal to or less than the first external force judgement value during a period of a first time length, and additionally, the external force continuously exceeds the second external force judgement value during a period of a second time length.