Robot Force Control Parameter Tuning From External Rigidity

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Solution Overview

Problem

It is challenging to set suitable force control parameters for a robot arm performing tasks that depend on the details of the work, characteristics of the robot arm, and surrounding environments, as these factors vary and require adaptive adjustments.

Innovation Solution

A method involving a series of operations to adjust force control parameters, including executing a first operation to bring a hand or object into contact with a second object, acquiring external force information, determining external rigidity, and setting new force control parameters based on this information and the position of a control point, allowing for adaptive adjustments.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If force control parameters are set based on general guidelines, then the robot can perform basic operations, but the parameters are not suitable for specific work details, robot characteristics, and surrounding environments

Engineering Contradiction:

Improveadaptability to specific work conditionsVSAvoiddifficulty of parameter setting

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The robot performs self-adjustment of force control parameters by automatically acquiring external rigidity information during operation and computing optimized parameters without human intervention. The control unit executes the adjustment process autonomously, allowing the system to serve itself in optimizing its control characteristics for different tasks and environments.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system dynamically changes force control parameters based on acquired external rigidity information. The control unit computes new parameter values that adapt to the specific work conditions, robot characteristics, and environmental factors by modifying stiffness, damping, and force control gains according to the measured external rigidity characteristics.

Inventive Principle:

Principle #35Parameter changes

2Reliability

If force control parameters are optimized for specific tasks, then task performance improves, but the complexity of parameter adjustment increases

Engineering Contradiction:

Improvetask performanceVSAvoidparameter adjustment complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system uses feedback from external rigidity measurements to automatically adjust force control parameters. The control unit acquires external rigidity information during robot operation and uses this feedback to compute and apply optimized parameters, creating a closed-loop system that continuously adapts to maintain high task performance without manual intervention.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system performs preliminary acquisition of external rigidity information before finalizing parameter optimization. By gathering environmental and task-specific rigidity data in advance during operation, the control unit can compute appropriate parameters without requiring complex real-time adjustments, simplifying the overall adjustment process while maintaining reliability.

Inventive Principle:

Principle #10Preliminary action

3Adaptability or versatility

If manual parameter adjustment is performed, then some adaptation is possible, but it is difficult to consider all factors including work details, robot characteristics, and surrounding environments

Engineering Contradiction:

Improvecomprehensive adaptation to all factorsVSAvoidease of parameter setting

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system replaces manual parameter adjustment with an automated computational process. The control unit uses algorithms to compute force control parameters based on acquired external rigidity information, substituting the mechanical/manual adjustment process with an intelligent control system that comprehensively considers all relevant factors including work details, robot characteristics, and surrounding environments.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS12109702B2Method of adjusting force control parameter, robot system, and force control parameter adjustment program

Publication Date: 2024.10.08 SEIKO EPSON CORP

AI summary

A first step of executing a first operation to bring a hand placed on a robot arm or a first object held by the hand into contact with a second object based on a first force control parameter, a second step of acquiring information of an external force applied to the robot arm by executing a second operation different from the first operation on a robot with the hand or the first object in contact with the second object, a third step of acquiring information of external rigidity based on the acquired external force information, and a fourth step of changing the force control parameter from the first force control parameter to a second force control parameter acquired based on the acquired external rigidity information and a position of a control point corresponding to the acquired external rigidity information are provided.