Robot Control Device Multi-Body Assembly Phase Matching
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Solution Overview
Problem
Existing force control robots are unable to effectively match phases of three or more bodies with a single body, leading to difficulties in assembly due to misalignment issues.
Innovation Solution
A control device and robot system that uses a processor to control a manipulator, allowing the end effector to come into contact with multiple objects and rotate around specific axes to align and assemble them, utilizing force control based on output from a force sensor, such as a piezoelectric element, to ensure accurate alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a force control robot is used to match phases of two bodies, then the assembly of two bodies can be performed, but the assembly of three or more bodies cannot be performed
Solution Approach 1:
The patent segments the assembly process into distinct rotational stages around different axes. The control device divides the complex task of assembling three or more bodies into manageable steps: first rotating around a first rotation axis to match phases of two bodies, then rotating around a second rotation axis to match phases of additional bodies. This segmentation allows the force control robot to handle complex multi-body assembly by breaking it down into sequential, controllable operations.
2Adaptability or versatility
If multiple rotation axes are used to assemble three or more bodies, then assembly capability is improved, but control complexity increases
Solution Approach 1:
The patent implements dynamic control by allowing the robot to switch between different rotation axes based on the assembly stage. The control device dynamically adjusts the rotation axis and corresponding force control parameters during the assembly process. This dynamic approach enables the system to adapt to different assembly configurations and maintain simplicity in each individual control step while achieving complex overall functionality.
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 effective assembly of multiple bodies with a single body by ensuring precise phase matching and alignment, even in cases of misalignment, through controlled rotation and force application, enhancing assembly accuracy and efficiency.
Implementation Method 1
utilizing force control based on output from a force sensor, such as a piezoelectric element
Data Source
AI summary
A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot provided with a manipulator, wherein in a case where the processor is configured to cause an end effector connected to the manipulator assemble a first object held by the end effector to a second object and a third object, the processor is configured to: cause the first object to come into contact with at least one of the second object and the third object; rotate the first object around a second rotation axis intersecting a first rotation axis while rotating the first object around the first rotation axis to assemble the second object and the first object to each other; and thereafter, rotate the first object around a third rotation axis intersecting the first rotation axis to assemble the third object and the first object to each other.