Robot Force Control With Selective Integrator Tuning
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Solution Overview
Problem
Existing robot control systems with force control methods, such as those using integrators to eliminate steady-state deviations, face challenges in balancing responsiveness and steady-state deviation elimination, lacking user control over prioritization between these factors.
Innovation Solution
A robot control device that includes a display control unit for setting whether to apply an integrator to the difference between target and measuring forces, a conversion unit to create a control program, and a control execution unit to execute the program, allowing independent configuration of integrator application across multiple control directions and adjustment of integral gains to reduce overshoot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an integrator is applied to eliminate steady-state deviation, then steady-state deviation is reduced, but responsiveness deteriorates
Solution Approach 1:
The patent applies dynamics by making the integrator configuration adjustable rather than fixed. Users can dynamically select whether to apply the integrator and adjust its gain based on operational requirements, allowing the system to adapt between prioritizing steady-state deviation elimination or responsiveness as needed
Solution Approach 2:
The patent implements parameter changes by allowing users to modify the integrator gain parameter and the application state (on/off) of the integrator. This enables flexible adjustment of control characteristics to balance steady-state deviation elimination against responsiveness according to specific operational needs
2Measurement precision
If an integrator is applied for all control directions, then steady-state deviation is eliminated across all directions, but device complexity increases
Solution Approach 1:
The patent applies segmentation by allowing the integrator to be applied independently to each control direction rather than uniformly to all directions. Users can selectively enable the integrator only for specific directions where steady-state deviation elimination is prioritized, reducing unnecessary complexity in other directions
Solution Approach 2:
The patent implements local quality by enabling different integrator configurations for different control directions. Each direction can have its own integrator application state and gain parameter, allowing optimized control characteristics tailored to the specific requirements of each direction
Data Source
AI summary
The control device for controlling a robot having a force detector includes an input device, a display, a memory, and a processor. The processor executes a program to repeat receiving of an input via the input device, selecting of an object of operation objects based on the input, and displaying of the selected object a predetermined number of times to complete an object operation flow. The processor converts the completed object operation flow into a control program for controlling the operations of the robot. The display displays a selection for selecting whether an integrator is applied to a difference between time series target force and time series measuring force for a specific control direction. The processor receives an adjusting input via the input device for adjusting an integral gain of the integrator when a result of the execution of the control program is in a predetermined condition.