Robot Control Device for FDS Tool Tip Positioning
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Solution Overview
Problem
Existing robot control systems for FDS (flow drilling screw) processes face challenges in accurately correcting positional deviations of tool tips due to counteractive forces, which complicate control and may lead to reduced joining quality, and require additional components or complex structures to correct these deviations.
Innovation Solution
A robot control device that calculates and generates a correction profile to adjust for positional deviations, incorporating a correction amount calculation unit, a correction profile generation unit, and a backlash correction amount calculation unit, which determines and compensates for motor inversion and external forces without the need for specific components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If feedback control is used to correct speed reducer twisting, then positioning accuracy is improved, but control complexity increases due to arm deformation and friction delays
Solution Approach 1:
The system performs preliminary identification of arm deformation characteristics and friction effects before actual operation. Correction values for speed reducer twisting are pre-calculated based on these identified characteristics, allowing the control system to apply corrections without real-time feedback computation, thus improving positioning accuracy while reducing control complexity
Solution Approach 2:
The invention introduces an intermediary correction value that mediates between the speed reducer twisting and the tool tip position. By calculating correction values based on pre-identified arm deformation and friction characteristics, the system creates an intermediate correction layer that simplifies the control process while maintaining positioning accuracy
2Manufacturing precision
If additional components are used to fasten tool and workpiece, then positional deviation is corrected, but device complexity and cost increase
Solution Approach 1:
The robot system performs self-correction by using its own sensors and control algorithms to identify and compensate for positional deviations. The arm deformation characteristics and friction effects are identified through the system's own operation data, and correction values are calculated and applied internally, eliminating the need for additional external fastening components
Solution Approach 2:
The invention replaces mechanical fastening components with a computational correction system. Instead of using physical devices to fasten the tool and workpiece together, the system uses calculated correction values based on identified arm deformation and friction characteristics to compensate for positional deviations, thereby maintaining joining accuracy without additional mechanical components
Data Source
AI summary
A robot control device includes a correction amount calculation unit that calculates a correction amount for collecting a deviation of a tip position of a tool attached to a tip of a robot due to an external force applied to the tool and a correction profile generation unit that generates a correction profile indicating a relationship between the correction amount calculated by the correction amount calculation unit and time.