Robot Control Device Parameter Table for Accuracy and Vibration

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Solution Overview

Problem

Industrial robots face challenges in achieving high accuracy and adaptability in specific work areas due to the use of general-purpose control parameters, which do not account for varying operator preferences regarding speed and vibration suppression.

Innovation Solution

A robot control device and method that utilize a table-based system to define correspondence relationships between work content and control parameters, including command followability and operation end determination references, allowing these parameters to be changed based on operator requests, enabling tailored control settings for specific tasks.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If general-purpose control parameters are used for the entire work area, then the robot operation can be performed in the same manner in all work areas, but it is difficult to locally increase accuracy in a specific work area

Engineering Contradiction:

Improverobot operation consistency across work areasVSAvoidrobot operation accuracy in specific work area

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The patent divides the work area into multiple regions and associates different control parameters with each region. The control parameter setting device segments the parameter space based on work area location, allowing the robot to switch between different parameter sets depending on which region it operates in, thereby achieving both consistency across areas and precision within specific areas.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The control parameters are made dynamic rather than static. The system automatically adjusts control parameters in real-time based on the robot's current position and the target work area, transitioning between different parameter sets as needed. This dynamic adaptation resolves the contradiction by providing consistent operation framework while enabling localized accuracy enhancement.

Inventive Principle:

Principle #15Dynamics

2Productivity

If control parameters are set to optimize for speed, then productivity increases, but vibration suppression deteriorates

Engineering Contradiction:

Improverobot operation speedVSAvoidrobot operation vibration

Core Design Contradiction:

ProductivityVSObject-generated harmful factors

Solution Approach 1:

The patent implements a control parameter setting device that selects different parameter sets based on the work content and target area. For tasks requiring high speed, parameters optimized for productivity are selected. For tasks requiring precision or operating in sensitive areas, parameters optimized for vibration suppression are selected. This parameter switching mechanism resolves the contradiction by allowing the system to optimize for either speed or vibration control depending on operational requirements.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20230311311A1Robot control device, robot control method, and non-transitory computer readable storage medium storing robot control program

Publication Date: 2023.10.05 SEIKO EPSON CORP

AI summary

A robot control device including a control section configured to cause a robot to perform work, wherein the control section is configured to decide control parameters based on a table in which is defined a correspondence relationship between work contents of the work to be performed by the robot and level of the control parameters of the robot, the table includes, as the control parameters, a command followability that indicates followability of the robot to a position command and an operation end determination reference that indicates a reference for determining an end of an operation of the robot, and each of level of the command followability and level of the operation end determination reference are changeable.