Robot Control Device Synchronizing Parameter Switching
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Solution Overview
Problem
Existing robot control systems face challenges in precisely synchronizing the switching of parameter sets during flexible control operations, leading to difficulties in absorbing workpiece dimension variations and ensuring straight extrusion paths, due to independent signal and physical delays, and the need for dedicated parameter sets for holding and extrusion tasks.
Innovation Solution
A robot control device with an operation state monitoring unit, force detecting unit, and storage unit that switches parameter sets based on real-time operation state outputs, allowing for flexible force control between the tool and workpiece, synchronized with extrusion operations without requiring complex peripheral equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If parameter sets are switched based on signals from the extruding operation side, then the robot can perform flexible control during extrusion, but electric delay and physical delay cause difficulty in precisely synchronizing parameter set switching with extrusion timing
Solution Approach 1:
The patent implements a feedback mechanism where the control device monitors the actual extrusion timing and uses this information to determine when to switch parameter sets. The control device receives feedback about the extrusion operation state and adjusts the parameter set switching timing accordingly, ensuring precise synchronization without being affected by signal delays.
Solution Approach 2:
The control device performs self-adjustment by internally determining the optimal timing for parameter set switching based on its own monitoring of the extrusion operation. Instead of relying on external signals that suffer from delay, the control device autonomously decides when to switch parameter sets, making the system self-correcting and eliminating the synchronization problems caused by signal transmission delays.
2Device complexity
If a single parameter set is used to comply with both workpiece holding and extrusion operations, then device complexity is reduced, but the performance of both operations becomes inferior
Solution Approach 1:
The patent applies dynamics by making the parameter sets switchable based on the operation phase. The control device dynamically selects between a first parameter set for workpiece holding and a second parameter set for extrusion operations. This dynamic adaptation allows the system to optimize performance for each specific operation while maintaining a unified control structure, resolving the contradiction between simplicity and performance.
3Ease of operation
If parameter sets are switched at fixed timings, then control simplicity is improved, but the robot cannot adapt to workpiece dimension variations and may not follow straight extrusion paths
Solution Approach 1:
The patent implements parameter changes by switching between different parameter sets that contain different flexibility values. The control device changes the flexibility parameter based on the operation phase and detected workpiece characteristics. This allows the system to adapt to workpiece dimension variations and maintain straight extrusion paths while keeping the control logic relatively simple through predefined parameter sets.
Data Source
AI summary
A robot control device adapted for performing flexible control includes: an operation state monitoring unit for determining the operation state of the robot on the basis of outputs from a position detecting unit for detecting positions of respective shafts of a robot, a force detecting unit for detecting forces of respective shafts of the robot or a time measuring unit for measuring time; a storage unit for storing a plurality of parameter sets indicating flexibility of the flexible control; and an operation generating unit for switching the parameter sets each indicating flexibility on the basis of an output from the operation state monitoring unit at the time of executing the flexible control.