Robot Direct Teaching With Force Feedback for Movement Awareness
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Solution Overview
Problem
Existing collaborative robot systems do not effectively notify users of the amount of movement during direct teaching, which hinders improved operability.
Innovation Solution
A robot system that includes a controller notifying users of the movement of a predetermined part by changing the operating force through virtual repulsion and attraction fields, providing a clicking sensation to indicate movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If direct teaching is performed without movement notification, then the robot can be operated intuitively, but the user cannot perceive the amount of movement
Solution Approach 1:
The system provides feedback to the user about the robot's movement amount by changing the operating force. When the robot moves, the controller modifies the force required to move the robot, allowing the user to perceive the movement through changes in operating force, thus resolving the information loss problem while maintaining intuitive operation
Solution Approach 2:
The operating force acts as an intermediary carrier of movement information. Instead of directly displaying movement visually or auditorily, the system uses changes in operating force as a mediator to convey movement amount information to the user's tactile sensation
2Loss of information
If movement notification is added to direct teaching, then user awareness of robot movement is improved, but the system complexity increases
Solution Approach 1:
The controller performs multiple functions: it controls the robot's movement and simultaneously uses the operating force as a notification medium. By making the operating force serve dual purposes (control and notification), the system avoids adding separate complex notification hardware
Solution Approach 2:
The system uses the existing operating force field to serve the notification function. Rather than introducing a separate notification mechanism, the system leverages the force field already present during robot operation to convey movement information, making the system self-sufficient
Data Source
AI summary
A robot system includes a robot and a controller that controls the robot. The controller, when a user is moving a predetermined part of the robot or moving the predetermined part with a terminal device, notifies the user that the predetermined part is moving from a first position to a second position.