Robot Control Device Preventing Unnecessary Retraction
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Solution Overview
Problem
Existing robot control devices often perform unnecessary retraction operations when detecting contact with objects, leading to inefficiencies in robot operations, especially in scenarios where contact is momentary or during human-robot collaboration.
Innovation Solution
A robot control device that utilizes a contact judging part to determine if a robot has contacted an object based on detected external force, a stop command part to halt the robot, and a continuous contact judging part to assess sustained contact, triggering retraction only when prolonged contact is confirmed, thereby preventing unnecessary retraction and improving operational efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot control device immediately performs retraction operation when detecting contact with an object, then the robot safety is improved, but unnecessary retraction operations occur reducing work efficiency
Solution Approach 1:
The control device performs preliminary assessment by detecting external force magnitude and duration before executing retraction. The contact judgment unit evaluates whether the detected external force exceeds a threshold and persists for a predetermined time, only then triggering the retraction command. This preliminary evaluation prevents premature retraction actions while maintaining safety response capability.
Solution Approach 2:
The control device dynamically adjusts its response based on the characteristics of the detected external force. By monitoring both the magnitude and temporal duration of the force, the system adapts its retraction decision-making process, executing retraction only when the external force persists beyond a predetermined time threshold, thereby avoiding unnecessary reactions to transient contacts.
2Object-affected harmful factors
If the robot performs retraction operation for any detected contact, then contact safety is ensured, but operational continuity is disrupted for momentary contacts
Solution Approach 1:
The control device implements periodic monitoring of external force during robot operation. The detection process continuously samples external force at predetermined intervals, and the contact judgment unit evaluates whether the force persists across multiple sampling periods. This periodic detection approach distinguishes between momentary disturbances and sustained contact conditions requiring retraction.
Solution Approach 2:
Before executing retraction, the system performs preliminary verification by checking whether the external force exceeds the threshold for a predetermined time duration. This preliminary time-based verification ensures that momentary contacts do not trigger unnecessary retraction, maintaining operational continuity while still responding to genuine contact situations.
Data Source
AI summary
A robot control device includes a contact judging part which judges if the robot has contacted an object based on external force which is detected by the sensor, a stop command part which makes the robot stop when it is judged that the robot has contacted the object, a continuous contact judging part which judges if the robot continues to contact the object after making the robot stop, and a retraction command part which makes the robot retract in a direction away from the object when it is judged that the robot continues to contact the object.