Robot Finger Control With Dual Error Ranges for Precise Assembly
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Solution Overview
Problem
Existing robot control systems fail to accurately and efficiently perform assembly operations on diverse shapes and sizes of workpieces, particularly after initial holding, due to lack of specific control methods for post-holding operations.
Innovation Solution
A robot control method that includes a finger, a driving unit, and a detection unit, where the detection unit outputs signals for the finger's state, allowing the robot to perform predetermined operations while maintaining hold on the workpiece within specific error ranges, enabling accurate assembly by switching between completion and allowable ranges for position and force control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot uses a single error range for position control during both holding and assembly operations, then the control system is simple, but the assembly accuracy deteriorates due to false error signals
Solution Approach 1:
The patent divides the position control into two distinct segments: a first error range for holding operations and a second error range for assembly operations. The controller switches between these segments based on the operational phase, allowing optimized accuracy for each stage without requiring a completely new control system.
Solution Approach 2:
The patent implements dynamic adjustment of the error range based on the operational phase. The controller dynamically switches between the first error range (larger tolerance) during holding and the second error range (stricter tolerance) during assembly, enabling the system to adapt its precision requirements to the current task.
2Manufacturing precision
If the robot maintains strict position control throughout the entire operation, then assembly accuracy is improved, but productivity deteriorates due to excessive control constraints
Solution Approach 1:
The patent segments the operational timeline into holding phase and assembly phase, applying different control stringency to each. During the holding phase, a relaxed first error range allows faster positioning, while during the critical assembly phase, a strict second error range ensures accuracy, thus optimizing both speed and precision.
Solution Approach 2:
The patent applies partial strict control only when necessary (during the assembly moment) rather than throughout the entire operation. The first error range permits broader position variations during non-critical phases, and only switches to the stricter second error range when assembly accuracy becomes critical.
3Productivity
If the robot uses a larger error range for position tolerance, then productivity is improved through faster operations, but manufacturing precision deteriorates due to reduced control accuracy
Solution Approach 1:
The patent dynamically adjusts the error range based on operational needs. The controller switches from a larger first error range (enabling faster holding operations) to a smaller second error range (ensuring precise assembly) based on the detected operational phase, thus optimizing the speed-accuracy tradeoff in real-time.
Solution Approach 2:
The patent changes the control parameter (error range) based on the operational phase. By switching between the first error range and second error range, the system adjusts its position tolerance parameter to match the requirements of each operational stage, allowing fast holding and precise assembly.
Data Source
AI summary
A method includes controlling a robot body performed by a controller. The robot body includes a finger, a driving unit, and a detection unit. The driving unit is configured to move the finger. The detection unit is configured to output a signal corresponding to a state of the finger moved by the driving unit. The method includes causing the finger to hold a workpiece, causing the robot body to start a predetermined operation while causing the finger to keep holding the workpiece, if a detected value based on the signal outputted from the detection unit is within a first range, and causing the robot body to continue to perform the predetermined operation until completion of the predetermined operation, if the detected value is within a second range in the predetermined operation. The second range is different from the first range.