Robot End-Effector Controller for Precise Multi-Axis Teaching
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Solution Overview
Problem
Conventional robot motion teaching methods using Force/Torque sensors struggle to accurately deliver user-intended path information and desired robot positions due to external force interference, leading to imprecise control.
Innovation Solution
A robot controller with two control interfaces and an encoder that interprets combined inputs to provide clear signals for rotational or translational motions, excluding external forces not related to the intended motion, allowing precise control through impedance control and a rotating disk for adjusting motion direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a Force/Torque sensor is used to determine robot path, then the robot can receive force input from the user, but external forces on perpendicular axes interfere with the intended motion direction
Solution Approach 1:
The control interface is divided into multiple independent directional inputs (first control interface for x-axis, second control interface for y-axis, etc.). Each interface independently receives force inputs along specific axes, allowing the system to segment and process forces directionally, preventing interference from perpendicular axes.
Solution Approach 2:
The encoder acts as an intermediary that combines control inputs from multiple control interfaces and interprets them as a unified third control input. This intermediary processing step filters and synthesizes the directional information, eliminating external force interference before delivering the final control signal to the robot.
2Ease of manufacture
If conventional F/T sensor control is used, then the system is simple to implement, but it cannot accurately deliver desired robot position information
Solution Approach 1:
The system transitions from conventional single-axis F/T sensing to a multi-dimensional control approach with multiple control interfaces positioned at different orientations. Each interface captures force components along specific axes, and the encoder combines these dimensional inputs to achieve precise 3D position control that conventional single-dimension sensors cannot provide.
3Measurement precision
If multiple control inputs are combined through encoder, then the control precision is improved, but the device complexity increases
Solution Approach 1:
The encoder serves multiple functions: it receives control inputs from multiple different control interfaces, combines these inputs, interprets the combined signals as unified third control inputs, and generates the final control signal for the robot. This multi-functional component reduces the need for separate processing units for each function.
Solution Approach 2:
The encoder merges multiple control inputs from different interfaces into a single unified third control input that drives the robot. This combining approach consolidates what would otherwise require multiple separate control channels into one integrated signal path, managing complexity through unification.
Data Source
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.