Robot Controller Teaching Fitting Operations With Variable Contact Force
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Solution Overview
Problem
Existing robot control methods for fitting operations often fail to teach appropriate fitting works due to the need to search for a suitable insertion position, which can result in workpiece damage from elastic and frictional forces.
Innovation Solution
A controller that uses a force detector to bring objects into contact with a first force, generating teaching data based on this contact, allowing the robot to perform a fitting operation with a second force greater than the first, thereby eliminating the need for a position search and reducing the risk of workpiece damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a search operation is performed to find a suitable insertion position by bringing two workpieces into contact, then the robot can be taught fitting work, but the workpiece holding position changes due to elastic force or frictional force, and the workpiece may be damaged
Solution Approach 1:
The patent changes the force parameter from a search-mode contact force to a pressing-mode force greater than elastic force, allowing direct fitting without position search while preventing damage through controlled force application
Solution Approach 2:
The patent performs preliminary teaching by bringing workpieces into contact with a first force to teach the fitting position, then uses a greater second force during actual fitting to ensure proper engagement without requiring a separate search operation
2Measurement precision
If a search operation is performed to find a suitable insertion position, then the robot can be taught fitting work, but the operation time increases due to the search process
Solution Approach 1:
The patent extracts the position search function from the fitting process by using a force greater than the elastic force of the workpiece, allowing the robot to directly fit components at any position without time-consuming search operations
Solution Approach 2:
By changing the force parameter to exceed the workpiece elastic force, the patent eliminates the need for position search, thereby reducing operation time while maintaining accurate fitting
3Measurement precision
If a search operation is performed by bringing workpieces into contact, then the robot can learn fitting positions, but the holding position changes due to frictional force
Solution Approach 1:
The patent changes the contact force parameter to be greater than the elastic force of the workpiece, which stabilizes the holding position during teaching by preventing position shifts caused by elastic deformation and frictional forces
Solution Approach 2:
The patent performs preliminary teaching with controlled contact force to establish accurate fitting positions, ensuring position stability during the teaching phase without requiring multiple search attempts
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
Enables accurate teaching of fitting operations without searching for insertion positions, reducing the likelihood of workpiece position changes and damage due to elastic or frictional forces, and ensuring successful fitting of objects.
Implementation Method 1
a robot having a force detector... when teaching the robot, the at least one processor brings a first object and a second object into contact with each other with a first force
Data Source
AI summary
When teaching a robot, at least one processor brings a first object and a second object into contact with each other with a first force by using the robot, and generates teaching data based on the contact. When causing the robot to perform an operation according to the teaching data, the at least one processor causes the first object and the second object to be fitted to each other with a second force greater than the first force, by using the robot.