Robot Teaching Control with Force-Adaptive Motion Mode Selection
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Solution Overview
Problem
Existing robot control systems require time and labor to switch between teaching modes, making it difficult to perform precise positioning and continuous movement efficiently.
Innovation Solution
A control device with a force detecting unit and a controller that selects between a first control mode for continuous movement and a second control mode for precise movement based on the temporal change and magnitude of the force applied, allowing for seamless switching between modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a robot is moved continuously in direct teaching mode, then the robot can be moved largely and continuously, but it is difficult to perform minute positioning
Solution Approach 1:
The system dynamically switches between first control mode (continuous movement) and second control mode (discrete movement) based on the detected force characteristics. When a large force is detected, the robot moves continuously; when a small force is detected, the robot moves by predetermined amounts. This dynamic adaptation resolves the contradiction between speed and positioning precision.
2Adaptability or versatility
If teaching modes are switched using a teaching pendant, then different control modes can be selected, but it takes time and labor
Solution Approach 1:
The robot system automatically determines and switches between control modes based on the force detected by the force detecting unit. The controller analyzes the temporal change and magnitude of the detected force, and autonomously selects the appropriate control mode without requiring operator intervention through a teaching pendant. This self-service mechanism eliminates the time and labor required for manual mode switching.
3Measurement precision
If the robot moves by a predetermined amount according to external force, then minute positioning can be achieved, but the robot cannot move continuously
Solution Approach 1:
The control system dynamically adapts between discrete movement (second control mode) and continuous movement (first control mode) based on real-time force detection. When precise positioning is needed, the robot moves by predetermined amounts; when continuous movement is required, the system switches to continuous control mode. This dynamic switching resolves the contradiction between positioning precision and movement continuity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and precise robot movement by automatically selecting the appropriate control mode based on the force applied, reducing the time and labor required for mode switching and improving teaching processing efficiency.
Implementation Method 1
a force detecting unit that detects a force applied to the movable unit
Data Source
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AI summary
In teaching of a robot, a control device controls a movable unit in a first control mode in which the movable unit continuously moves according to a force detected by a force detecting unit and a second control mode in which the movable unit moves by a predetermined movement amount according to the force detected by the force detecting unit. A controller selects a first control mode or a second control mode according to a temporal change in the force detected by the force detecting unit and a magnitude of the force.