Robot Corrective Manipulation With Dynamic Limit Range Control
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Solution Overview
Problem
Existing robot systems face challenges in easily and efficiently correcting operations when changes are required, such as changes in workpiece positions, leading to accuracy degradation and the need for time-consuming re-teaching by experts.
Innovation Solution
A robot system with a manipulator that generates corrective manipulation information and a limit range setting module to adjust the operational limits, allowing real-time correction of robot operations while preventing excessive deviations, thereby facilitating easier convergence to ideal operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If teaching is performed again to change the teaching information, then the robot operation accuracy is improved, but the time and effort required increases significantly
Solution Approach 1:
The robot system performs self-correction by automatically generating corrected operation information from operational data and positional deviations without requiring expert intervention. The system serves itself by identifying deviations from taught positions and autonomously creating correction data, eliminating the need for time-consuming re-teaching by experts while maintaining high operational accuracy.
Solution Approach 2:
The system implements feedback by monitoring the robot's operational positions, comparing them against taught positions, and using the detected positional deviations to generate corrective adjustments. This closed-loop feedback mechanism allows the robot to continuously refine its operation accuracy based on actual performance data, avoiding the need for complete re-teaching.
2Manufacturing precision
If the limit range is narrowed for corrective manipulation, then the convergence to ideal operation is improved, but the ease of correction decreases
Solution Approach 1:
The limit range for corrective manipulation is made dynamic rather than static. The system automatically adjusts the limit range width based on the current operational context and positional deviation magnitude. When the robot is far from the ideal position, a wider limit range allows easier correction; as the robot approaches the ideal position, the limit range narrows to improve convergence precision, thereby maintaining both ease of correction and operation convergence.
3Ease of operation
If the limit range is widened to allow more correction, then the ease of manipulation is improved, but the operational stability deteriorates
Solution Approach 1:
The system dynamically adjusts the limit range based on the robot's current position relative to the ideal operational path. When positional deviations are large, the limit range is widened to allow easier manipulation and correction. As the robot approaches the ideal position, the limit range is automatically narrowed to prevent excessive deviations and maintain operational stability. This dynamic adaptation resolves the contradiction between manipulation flexibility and operational stability.
Data Source
AI summary
A robot system includes a robot body, a memory, an operation controlling module, a manipulator, and a limit range setting module configured to set a limit range of the corrective manipulation by the manipulator. The operation controlling module executes a given limiting processing when a corrective manipulation is performed beyond the limit range from an operational position based on automatic operation information. The limit range setting module calculates a positional deviation between the operational position based on the automatic operation information before the correction and an operational position based on the corrected operation information, and when the positional deviation is at or below a first threshold, narrows the limit range in the next corrective manipulation by the manipulator.