Robot Control Apparatus Trajectory Visualization and Force Reproducibility
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Solution Overview
Problem
Current robot control technologies face challenges in understanding the correspondence between target and actual motion trajectories, reproducibility of force control, and intuitive recognition of the manipulator's motion state, leading to inefficiencies in teaching and operation.
Innovation Solution
A robot control apparatus that includes a display control unit to visualize the target and actual motion trajectories on a screen, allowing for easier understanding of trajectory relationships, and a control unit that switches between force and position control modes based on the output of a force detector, improving reproducibility and intuitive state recognition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If force control mode is used to control the manipulator in response to the force applied to the manipulator, then the manipulator can respond to applied forces, but the reproducibility of the motion result is lower due to time-dependent output of the force detector
Solution Approach 1:
The patent applies preliminary action by resetting the force detector to a reference state before executing the force control command. This ensures that the force detector starts from a known baseline, eliminating time-dependent variations and improving reproducibility of the motion result while maintaining force control capability.
2Loss of information
If the motion state is displayed on a display or teaching pendant for visual recognition, then the motion state can be confirmed, but the user must look away from the robot actually in motion, making it hard to intuitively recognize the displayed part
Solution Approach 1:
The patent uses AR glasses to create a virtual copy of the robot's motion state that is overlaid on the actual robot. This allows the user to see both the real robot and its motion state information simultaneously in the same visual field, eliminating the need to look away and enabling intuitive recognition of the motion state.
3Adaptability or versatility
If teaching is performed by updating initial position and target position by trial and error to understand the correspondence relationship between target trajectory and actual motion trajectory, then the teaching can be adjusted, but a long time is required for determination as to whether the teaching is optimal
Solution Approach 1:
The patent implements feedback by displaying the actual motion trajectory overlaid on the target trajectory using AR glasses during teaching operations. This provides immediate visual feedback on the correspondence relationship between target and actual trajectories, allowing teachers to quickly assess and adjust teaching parameters without time-consuming trial and error iterations.
Data Source
AI summary
A robot control apparatus that controls a robot including a manipulator, a force detector provided in the manipulator, and an actuator that drives the manipulator based on a target position, includes a display control unit that displays a motion position of the manipulator derived based on a target force and an output of the force detector and the target position on a screen.