Robot Teaching Mode Switching via Force Pattern Detection
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Solution Overview
Problem
Current robot teaching systems lack the ability to intuitively and efficiently change operation modes based on the position and pattern of external forces applied during lead-through teaching, requiring additional hardware or complex control systems.
Innovation Solution
A robot system equipped with a six-axis force sensor that detects external forces and moments, allowing a controller to change operation modes by determining the position and pattern of the applied force, such as through double-tapping operations near the wrist or basic shaft unit, enabling the wrist or shafts to be moved independently or fixed accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If additional hardware is added to enable mode switching during lead-through teaching, then the ability to change operation modes is improved, but the device complexity increases
Solution Approach 1:
The robot system uses its own existing force sensor to detect operator intentions for mode switching, eliminating the need for additional hardware. The sensor that was already present for lead-through teaching is repurposed to also detect mode change commands through specific force patterns.
Solution Approach 2:
The force sensor serves multiple functions: it detects both the magnitude and direction of forces for lead-through teaching operations and detects specific force patterns (double-tapping) for operation mode switching, making a single component perform multiple roles.
2Adaptability or versatility
If complex control systems are used to detect force patterns for mode switching, then the operation mode changing ability is improved, but the device complexity increases
Solution Approach 1:
The control system replaces complex mechanical mode switching mechanisms with a software-based detection system that analyzes force sensor data. The controller identifies mode change intentions by detecting specific temporal patterns (double-tapping) in the force signals, eliminating the need for physical mode selection mechanisms.
Solution Approach 2:
The system changes the interpretation parameters of the force sensor data based on detected patterns. When a double-tapping pattern is detected, the system transitions to a different operation mode, effectively using parameter changes in force application to trigger mode changes without additional hardware.
3Ease of operation
If force patterns are used for mode switching, then the ease of operation is improved, but the difficulty of detecting and measuring increases
Solution Approach 1:
The system uses periodic force applications (double-tapping patterns) as mode change commands. The operator applies force twice in succession within a predetermined time period, creating a distinctive temporal pattern that is easy to perform but difficult to occur accidentally during normal lead-through teaching operations.
Solution Approach 2:
The controller provides feedback by detecting the double-tapping pattern and executing mode changes accordingly. The system monitors the force sensor data in real-time, identifies the characteristic pattern, and responds with mode switching, creating a clear feedback loop between operator input and system response.
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
This approach allows for intuitive and efficient switching of operation modes without additional hardware, improving the ease of teaching by distinguishing between forces for mode changes and maintaining accurate position detection, thus enhancing the robot teaching process.
Implementation Method 1
a robot including at least one sensor that detects an applied external force
Data Source
AI summary
Provided is a robot system including a robot including at least one sensor that detects an applied external force and a controller that controls the robot. The controller changes an operation mode of the robot when performing lead-through teaching in accordance with a position and a pattern of the external force detected by the sensor.