Robot Force Sensing with Inertial Compensation for Accurate Detection
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Solution Overview
Problem
Existing robot systems lack accurate detection of external forces due to the absence of physical force sensors, leading to low detection accuracy when distinguishing between external forces and inertial forces generated by the robot's motion.
Innovation Solution
A force detection apparatus incorporating first and second force sensors with corresponding inertial sensors, which detect external forces by correcting signals from force sensors using inertial sensor data to isolate and remove inertial components, thereby enhancing detection accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If force sensors are not used and only acceleration detectors and position detectors are employed, then the device complexity is reduced, but the measurement precision of external force detection deteriorates
Solution Approach 1:
The detection system is segmented into multiple independent sensors: acceleration detectors for measuring inertial forces, position detectors for measuring displacement, and force sensors for measuring external forces. Each sensor handles a specific aspect of the measurement, allowing the system to achieve high detection accuracy through coordinated data from multiple specialized components rather than relying on a single complex sensor.
Solution Approach 2:
The control unit acts as an intermediary that processes data from acceleration detectors and position detectors to calculate inertial forces, then compares these with force sensor readings. This intermediary processing enables the system to distinguish between inertial forces and external forces, achieving accurate external force detection through the mediating calculation and comparison process.
2Ease of manufacture
If force sensors are not used, then the manufacturing cost is reduced, but the reliability of force detection deteriorates
Solution Approach 1:
The system segments the detection function across multiple sensors including force sensors, acceleration detectors, and position detectors. This segmentation allows the use of established, reliable force sensor technology while maintaining ease of manufacture by integrating these sensors with standard robot controller units and using conventional signal processing methods.
Solution Approach 2:
The system implements feedback by continuously comparing force sensor measurements with calculations derived from acceleration and position data. The control unit uses this feedback to distinguish external forces from inertial forces, thereby enhancing detection reliability through continuous verification and correction of measurements.
3Measurement precision
If inertial sensors are added near force sensors, then the measurement precision of external force detection is improved, but the device complexity increases
Solution Approach 1:
The system merges multiple detection functions into a coordinated measurement system where acceleration detectors, position detectors, and force sensors work together under unified control. The control unit integrates data from all sensors to calculate and compare inertial and external forces, achieving enhanced measurement precision through the combined information from multiple sensor types rather than through a single complex sensor.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables precise detection of external forces acting on a robot's end effector, improving the accuracy of force feedback control and operational precision.
Implementation Method 1
a force detection device having a force detection axis
Implementation Method 2
an inertia detection axis extending along the force detection axis of the force sensor
Data Source
AI summary
A force detection apparatus includes first and second force sensors each including a force detection device having a force detection axis, a first inertial sensor disposed in the vicinity of the first force sensor and having an inertia detection axis extending along the force detection axis of the first force sensor, and a second inertial sensor disposed in the vicinity of the second force sensor and having an inertia detection axis extending along the force detection axis of the second force sensor.