Robot Force Detection Zero Point Adjustment Under Vibration
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Solution Overview
Problem
Robot systems face challenges in performing zero point adjustment with high accuracy due to external forces not detected by the force sensor, particularly in environments with vibrations.
Innovation Solution
A robot system with a force detection unit, a reset processing unit, and a correction unit that performs specific processing steps to reset and correct the force detection unit, including determining peak values and calculating offset values to refine output values, enabling accurate operation even under vibrating conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If zero point adjustment is performed using force sensor detection, then the robot can execute force control work, but measurement precision deteriorates when external forces not targeted for detection are applied to the force sensor
Solution Approach 1:
The system performs preliminary detection of external forces (vibrations) before executing zero point adjustment. The correction value calculation unit calculates correction values based on detected vibrations during the zero point adjustment period, thereby compensating for external force interference in advance and ensuring accurate zero point adjustment even in vibrating environments.
Solution Approach 2:
The system continuously monitors external forces applied to the force sensor and uses this feedback to calculate correction values. The correction values are applied to adjust the output of the force detection unit, creating a closed-loop system that maintains measurement accuracy despite external disturbances.
2Ease of repair
If reset processing is performed on the force detection unit, then the force sensor can be recalibrated, but measurement precision deteriorates when vibrations are present during the reset period
Solution Approach 1:
The system introduces a correction value as an intermediary element between the force detection unit and the zero point adjustment process. This correction value, calculated based on detected vibrations, mediates the relationship between the force sensor output and the desired zero point, allowing accurate recalibration even when vibrations are present during the reset period.
3Adaptability or versatility
If the robot operates in environments with external vibrations, then the robot can maintain operational flexibility, but reliability of force detection deteriorates
Solution Approach 1:
The system changes the parameter of the force detection output by adding correction values that are calculated based on detected vibrations. This parameter transformation allows the system to maintain reliable force detection accuracy across varying environmental conditions, including environments with external vibrations, thereby preserving both adaptability and reliability.
Data Source
AI summary
A reset process includes: first processing for resetting a force detection unit; second processing for determining whether a peak output value from the force detection unit is equal to or greater than a predetermined first threshold value in a first period and updating a determination result; third processing for executing the first processing when the peak value is equal to or greater than the first threshold value; fourth processing for executing the second processing when the peak value is not equal to or greater than the first threshold value and a second period did not elapse from the timing when the force detection unit was reset; and fifth processing for calculating an average of the output values in a third period as a first offset value when the peak value is not equal to or greater than the first threshold value and the second period elapsed from the timing.