Robot Controller Visual Servoing Impedance Control
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Solution Overview
Problem
Existing robot controllers face difficulties in accurately moving an object to a target position, especially when the object's position differs significantly, as they struggle to detect and correct deviations in direction and distance using impedance control alone.
Innovation Solution
A robot controller system that combines image acquisition and force detection to generate command values for moving the end point of a robot, using a combination of visual servoing and force control to adjust the trajectory and accuracy, with adjustable weights based on distance from the target position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If impedance control is used to move the robot end point, then the robot can perform force-sensitive operations, but it cannot detect and correct position deviations when the object is far from the target position
Solution Approach 1:
The patent merges impedance control with visual servoing control to create a hybrid control system. The visual servoing component detects position deviations using image processing, while impedance control handles force-sensitive operations. This combination allows the system to simultaneously achieve both force-sensitive operation capability and accurate position deviation detection, resolving the contradiction between reliability in force operations and measurement precision in position detection.
2Device complexity
If only impedance control is used, then the control system remains simple, but it cannot correct trajectory efficiently when position deviations are large
Solution Approach 1:
The patent implements dynamic switching between visual servoing control and impedance control based on the robot's proximity to the target position. When the robot is far from the target, visual servoing provides efficient trajectory correction. When approaching the target, impedance control takes over for precise force-sensitive positioning. This dynamic adaptation improves productivity without requiring both systems to operate at full complexity simultaneously.
3Measurement precision
If visual servoing control is used to correct position, then positioning accuracy improves, but the trajectory becomes inefficient when the object is misaligned
Solution Approach 1:
The patent segments the operation into two phases: a coarse positioning phase using visual servoing to correct large position deviations and achieve accurate positioning, and a fine positioning phase using impedance control to complete the operation efficiently. This segmentation allows each control method to operate in its optimal performance range, with visual servoing handling accuracy-critical tasks and impedance control handling efficiency-critical tasks.
Data Source
AI summary
A robot includes a control unit that controls a movable unit of the robot to move an endpoint of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.