Robot Force Control Mode Setting from Program Analysis
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Solution Overview
Problem
Existing robot systems require manual programming for force control modes, which is cumbersome and prone to human error.
Innovation Solution
A robot system with a robot controller that automatically determines and sets the operation mode of force control based on a robot program, using a force detection unit and determination unit to switch between tracking and regular force control modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual programming is used to set force control modes, then the robot system can execute force control operations, but the programming work becomes troublesome and prone to human error
Solution Approach 1:
The robot controller automatically determines the operation mode of force control by analyzing the robot program itself, without requiring manual intervention. The determination unit extracts program information and autonomously sets the force control mode, making the system self-configuring and eliminating manual programming steps that cause errors
Solution Approach 2:
The force control mode is determined and set in advance during program loading, before actual execution. The determination unit analyzes the robot program and pre-configures the appropriate force control mode, so that when force control is executed, the correct mode is already established without requiring manual setup
2Ease of operation
If automatic determination of force control mode is implemented, then programming is simplified and human error is reduced, but additional control units and processing are required
Solution Approach 1:
The determination unit serves multiple functions: it analyzes the robot program, identifies force control instructions, determines the appropriate operation mode, and sets the force control parameters. By consolidating these functions into a single multi-functional unit, the system achieves automatic mode determination without proportionally increasing overall controller complexity
Solution Approach 2:
The determination unit and force control setting functions are integrated into the robot controller architecture. The unit combines program analysis, mode determination, and parameter setting capabilities in one cohesive component, reducing the need for separate dedicated units for each function
Data Source
AI summary
Provided is a robot system that comprises a robot, a robot control device which executes a robot program and controls the robot, and a force detection unit which detects a force acting on the robot. The robot control device comprises: a determination unit that, on the basis of the robot program, determines an operating mode for force control, using the force detection unit, executed by the robot program; and a force control setting unit that sets operation settings for force control in accordance with the operating mode for the force control determined by the determination unit.