Robot End-Effector Controller for Precise 3D Motion Guidance
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Solution Overview
Problem
Conventional robot controllers using Force/Torque sensors and admittance control struggle to accurately deliver user-intended path information and desired robot positions due to cross-axis force interactions, leading to ambiguous and inaccurate robot motion guidance.
Innovation Solution
A robot controller with a rotating disk and dual control interfaces that interpret combined control inputs to determine translational and rotational motions in 3D space, utilizing impedance control to restrict unwanted motions and provide precise control signals to the robot end portion, enabling intuitive and accurate user input recognition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If Force/Torque sensor and admittance control are used for robot path determination, then the robot can respond to user applied forces, but cross-axis force interactions cause inaccurate path information delivery and ambiguous robot motion guidance
Solution Approach 1:
The control interface is segmented into two independent parts: a rotating disk for direction control and a control panel for force input. This segmentation allows independent control of motion direction and force magnitude, preventing cross-axis interference and enabling accurate delivery of user-intended path information to the robot.
2Reliability
If conventional F/T sensor-based control is used, then the system can detect applied forces, but it cannot naturally deliver desired robot positions to the existing robot path
Solution Approach 1:
The rotating disk acts as an intermediary device between the user and the robot control system. It translates user's desired motion direction into a rotational position that the control panel can interpret, enabling natural delivery of desired robot positions without directly manipulating complex force vectors.
3Measurement precision
If dual control interfaces on a rotating disk are implemented, then accurate interpretation of user intention is achieved through impedance control, but the device complexity increases
Solution Approach 1:
The rotating disk serves multiple functions: it determines the direction of the first control input, provides rotational position information for path determination, and enables impedance control for accurate user intention recognition. This multi-functionality reduces the need for separate dedicated components, thereby managing device complexity while maintaining high precision.
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
The solution allows for clear delivery of user intentions, resulting in accurate robot motion trajectories and improved user convenience by precisely controlling the robot end portion's motion in a multi-degree-of-freedom environment.
Implementation Method 1
an encoder which interprets the combination of the first and second control inputs
Implementation Method 2
a translational motion in a direction other than the input direction is restricted by impedance control
Data Source
Figure 1A
Figure 1B
Figure 2
AI summary
One aspect of the present invention provides a robot controller for end portion control of a multi-degree-of- freedom robot. The robot controller comprises: a first control interface, which is positioned at a first position around the robot end portion and receives a first control input for at least for directions; a second control interface, which is positioned at a second position around the robot end portion and receives a second control input for at least four directions; and an encoder, which interprets the combination of the first and second control inputs as a third control input about the robot end portion and provides the robot with a signal according to the third control input.