Robot Controller Force Feedback for Stable Object Assembly
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot controllers face challenges in stably and rapidly achieving a combined state where a predetermined portion of a given object and a different object are in contact and combined, due to fluctuations in force about the axis of rotation, leading to instability and oscillation, especially when trying to maintain high rotation velocities.
Innovation Solution
A robot controller is designed with a force measuring unit, translational and rotational force control units, and operation command generation to precisely control the force and movement between the objects, adjusting for fluctuations and optimizing movement strategies to ensure stable contact and combination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If compliance control is used to control the force acting between the given object and the different object to reach a target force, then the given object and the different object can be set in a combined state, but the force about the axis of rotation fluctuates causing instability and oscillation
Solution Approach 1:
The robot controller continuously measures the actual force about the rotation axis and compares it with the target force, then adjusts the rotation velocity command based on the force error. This closed-loop feedback control eliminates fluctuations and oscillations by dynamically compensating for deviations from the target force state.
Solution Approach 2:
The system dynamically adjusts the rotation velocity command based on real-time force measurements. When the force about the rotation axis deviates from the target, the rotation velocity is automatically modified to bring the force back to the desired level, making the system adaptive and stable under varying conditions.
2Productivity
If high rotation velocities are used to achieve the combined state rapidly, then productivity is improved, but force fluctuations increase causing instability
Solution Approach 1:
The rotation velocity command is dynamically adjusted based on real-time force measurements. At high rotation velocities, the system can maintain stability by continuously adapting the velocity command in response to force feedback, allowing rapid achievement of the combined state without sacrificing stability.
Solution Approach 2:
The feedback mechanism allows the system to operate at high rotation velocities while maintaining stability. The continuous monitoring of force about the rotation axis and automatic adjustment of velocity commands ensures that even at high speeds, the system remains stable and reliably achieves the combined state.
3Manufacturing precision
If the force about the axis of rotation is controlled to zero to achieve combined state, then the given object and different object are set in contact, but oscillation occurs making the control unstable
Solution Approach 1:
The feedback control system prevents oscillation by continuously measuring the force about the rotation axis and adjusting the rotation velocity command based on the force error. This eliminates the instability that would otherwise occur when trying to control the force to zero, allowing precise achievement of the contact state.
Solution Approach 2:
The system dynamically adapts the rotation velocity to achieve and maintain the desired force state without oscillation. By continuously adjusting the velocity command in response to force measurements, the system can precisely control the contact state while maintaining stability.
Data Source
AI summary
A robot controller which uses a robot to more stably, more rapidly move a given object and a different object relative to each other to set the given object and the different object in a combined state in which portions of the two objects are in contact and combined with each other. The robot controller includes an unit which measures a force acting between two objects, an unit which sets a direction of translational force control, an unit which sets a translational force control target force, an unit which sets an axis of rotational force control, an unit which calculates a target amount of translational force control direction movement, an unit which calculates a target amount of rotational force control axis rotational movement, an unit which calculates a target amount of rotational movement, and an unit which generates an operation command for the robot.