Robot Force Control Visualization for Polishing and Fitting
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Solution Overview
Problem
Existing robot control systems fail to effectively manage and visualize the forces and moments acting on workpieces during tasks like polishing and fitting, making it difficult to confirm and improve the quality of these processes.
Innovation Solution
A robot controller that calculates and controls the force and moment at the contact point between workpieces using a six-axis force sensor, and displays the resulting velocity and angular velocity on an image, allowing for intuitive visualization and control of the robot's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If force control is implemented to ensure precise force and moment values during workpiece contact, then manufacturing precision is improved, but device complexity increases due to additional sensors and control calculations
Solution Approach 1:
The patent replaces complex mechanical force control mechanisms with a computational approach. A calculation unit computes the required robot arm movement based on detected force/magnitude data and predetermined relationships, substituting mechanical complexity with algorithmic processing while maintaining precise force control during polishing and deburring operations
Solution Approach 2:
The patent introduces a calculation unit as an intermediary between the force detector and the robot controller. This intermediary component processes the detected force data and translates it into appropriate movement commands, simplifying the overall control architecture while enabling precise force control through computational mediation
2Measurement precision
If force detection and control are added to monitor contact forces during assembly and fitting tasks, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent makes the robot system multi-functional by enabling the same force detection and control mechanism to serve multiple purposes: monitoring contact forces during assembly/fitting tasks, controlling polishing quality, and managing deburring processes. This universal approach allows precise force measurement across different operations without requiring separate specialized systems for each task
Solution Approach 2:
The patent implements a feedback loop where the force detector continuously monitors contact forces, the calculation unit processes this data against predetermined criteria, and the robot controller adjusts movements in real-time based on the feedback. This closed-loop feedback system enables precise force measurement and control while maintaining a relatively simple device architecture through iterative correction
3Manufacturing precision
If the robot controller calculates and controls force and moment at the contact point, then manufacturing precision is improved, but loss of time increases due to additional calculation processing
Solution Approach 1:
The patent applies preliminary action by pre-establishing the relationship between robot arm movement and contact point force/magnitude before actual operation. The calculation unit uses predetermined data and models to directly compute required movements from detected force values, eliminating the need for complex real-time iterative calculations and reducing processing time while maintaining high precision control
Data Source
AI summary
A robot controller that moves a first workpiece mounted on a robot with respect to a second workpiece, the robot having a sensor for detecting one of magnitude of force acting on the first workpiece and magnitude of torque acting on the robot, the robot controller including a calculation unit configured to calculate a force between the first workpiece and the second workpiece and a moment on the first workpiece, based on the magnitude of the force or the torque, a controller carrying out force control so that the calculated force and the moment correspond to a predetermined force and moment, and a display displaying at least one of a velocity of the first workpiece and an angular velocity, the velocity and the angular velocity occurring as a result of control by the controller, the velocity and the angular velocity being overlapped on an image of the robot.