Robot Force-Control Programming With Guided Countermeasures
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Solution Overview
Problem
Existing robot teaching playback systems require skilled operators to create control programs for force control operations, as they lack intuitive tools for parameter setting and error handling.
Innovation Solution
A robot control device with a display control unit that creates an input screen for operation flow creation, a conversion unit to convert the flow into a control program, and a control execution unit to execute the program, which also displays countermeasures for non-predetermined operations, facilitating easier program creation and troubleshooting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a teaching playback robot system is used to create control programs for force control operations, then the robot can execute precise force control tasks, but the system requires skilled operators and complex parameter setting procedures
Solution Approach 1:
The robot system performs self-diagnosis and automatically generates countermeasure information when operations deviate from predetermined patterns. The system monitors its own execution, detects anomalies, and presents troubleshooting guidance without requiring external expert intervention, thereby reducing the skill level needed for operation while maintaining precise force control
Solution Approach 2:
The system implements feedback by monitoring robot operations during execution and comparing them against predetermined operation patterns. When deviations are detected, the system provides feedback in the form of countermeasure information on the display device, guiding operators to correct issues without requiring deep expertise in force control parameter setting
2Adaptability or versatility
If comprehensive parameter setting options are provided for force control operations, then flexible control is achieved, but the complexity of creating control programs increases
Solution Approach 1:
The system stores predetermined operation patterns that represent pre-analyzed optimal control sequences for common force control tasks. These patterns are prepared in advance and can be directly applied to specific tasks, eliminating the need for operators to manually configure complex parameters while maintaining adaptability through pattern selection and modification
Solution Approach 2:
The predetermined operation patterns serve as an intermediary layer between the operator and the complex force control parameters. Instead of directly manipulating numerous technical parameters, operators work with high-level pattern descriptions that automatically translate into detailed control instructions, simplifying the creation process while preserving control flexibility
3Manufacturing precision
If the robot executes predetermined operations with strict control, then operation accuracy is maintained, but the ability to handle unexpected operations is reduced
Solution Approach 1:
The system dynamically adapts its behavior based on runtime conditions. During normal operation, it executes predetermined patterns with high accuracy. When deviations from expected operations are detected, the system transitions to a diagnostic mode that presents countermeasure information, enabling it to handle unexpected situations while maintaining precision for routine tasks
Data Source
AI summary
A robot control device that creates a control program for work of a robot with a force detector, the device includes a processor. the processor is configured to: display an input screen including an operation flow creation area for creating an operation flow of work including a force control operation on a display device; convert the created operation flow into a control program; and execute the control program to control the robot, and when an operation of the robot is not a predetermined operation set in advance after the control program is executed, the processor displays a screen for presenting a countermeasure for realizing the predetermined operation set in advance on the display device.