Robot Manipulator Control Transfer Using Trajectory and Wrench Data
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Solution Overview
Problem
The generation of control programs for robot manipulators is complex and time-consuming, especially when transferring tasks between robots with different designs and technical solutions.
Innovation Solution
A method that involves executing a predetermined application by a first robot manipulator, obtaining and storing time series of trajectory and wrench data, determining robot commands from this data, and generating a control program for a second robot manipulator based on these commands and its own design conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If control programs are generated by manually programming each robot manipulator, then the control program is optimized for the specific robot design, but the process is complex and time-consuming
Solution Approach 1:
The patent creates a virtual model (digital twin) of the robot manipulator that copies its physical characteristics, kinematic parameters, and dynamic properties. This virtual model can be used to generate and test control programs without physically programming the actual robot, significantly reducing programming time while maintaining optimization for the specific robot design
Solution Approach 2:
The patent performs preliminary simulation and validation of control programs in the virtual environment before deploying them to the physical robot. This allows control programs to be developed, tested, and optimized in advance, reducing the time required for actual robot programming and deployment
2Productivity
If control programs are transferred between robot manipulators with different designs, then task transfer is faster, but the control program must account for different design conditions
Solution Approach 1:
The patent creates a standardized virtual model framework that can represent different robot manipulator designs through unified data structures and simulation interfaces. This allows control programs developed in the virtual environment to be more easily transferred between different physical robots, as the virtual model abstraction handles design-specific variations
Solution Approach 2:
The patent uses parameterized virtual models where kinematic and dynamic parameters can be modified to match different robot designs. When transferring control programs between robots with different designs, only the relevant parameters in the virtual model need to be changed, while the overall control logic remains transferable, reducing the complexity of adaptation
3Measurement precision
If additional sensors are added to capture comprehensive empirical data, then the control program generation is more accurate, but the system complexity and cost increase
Solution Approach 1:
The patent introduces a virtual model as an intermediary between the physical robot and the control program generation process. This virtual model can simulate sensor measurements and system behavior without requiring additional physical sensors, thereby maintaining measurement precision for control program development while avoiding the complexity and cost of adding physical sensing equipment
Data Source
AI summary
A method of generating a control program, wherein the method includes: executing an application by the first robot manipulator, at the same time, determining trajectory data and/or wrench data, determining robot commands from a stored time series, the robot commands being principal elements of the control program for the robot manipulator without relation to design conditions of a first robot manipulator, and generating the control program for a second robot manipulator based on the stored robot commands and based on the design conditions of the second robot manipulator.