Robot Force Control Parameter Calculation From Multi-Direction Pressing
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Solution Overview
Problem
Operators unfamiliar with robot operations face difficulties in setting coordinate systems for precise position and orientation control of workpieces during force control, particularly in three-dimensional spaces, due to complex procedures and the need to specify multiple axes.
Innovation Solution
A controller with a force detector and parameter calculating unit that calculates movement direction and workpiece tip point position based on force data from multiple pressing directions, simplifying the setup of force control parameters without requiring operators to set coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If coordinate system setting procedures are used for force control, then position and orientation control precision is improved, but operator complexity and difficulty increase
Solution Approach 1:
The system automatically determines the control point position and movement direction by detecting corner portions of the workpiece and calculating vectors based on detected corner coordinates. This self-service mechanism eliminates the need for operators to manually set coordinate systems, thereby reducing operational complexity while maintaining control precision.
Solution Approach 2:
The patent replaces the manual mechanical procedure of coordinate system setting with an automated image processing and calculation system. The control point determination and movement direction calculation are performed automatically through computer algorithms that process corner detection data, substituting manual mechanical operations with automated computational methods.
2Measurement precision
If manual coordinate system setting is performed, then control accuracy is improved, but setup time increases
Solution Approach 1:
The system performs preliminary automatic determination of control points and movement directions by detecting corner portions before actual force control operations begin. This preliminary automated setup eliminates the need for time-consuming manual coordinate system configuration, significantly reducing setup time while ensuring accurate control parameters are established in advance.
Solution Approach 2:
The automated system independently performs the setup process by detecting workpiece corners and calculating control parameters without operator intervention. This self-service capability eliminates the time loss associated with manual coordinate system setting while maintaining the accuracy required for precise force control operations.
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
Facilitates easy operation of robots by automating the calculation of force control parameters, reducing the complexity of setting up force control for operators, especially in three-dimensional scenarios.
Implementation Method 1
a force detector configured to detect force applied to one of the first workpiece and the contact member when the robot brings the first workpiece into contact with the contact member including a corner portion
Data Source
AI summary
This control device includes a force sensor, and a parameter calculation unit for calculating a moving direction for moving a first workpiece, and the position of a workpiece end point when performing force control. An operator causes a robot to bring the workpiece end point of the first workpiece into contact with a corner of a second workpiece. The force sensor detects a force in a period in which the first workpiece is pressed along a pressing direction. The parameter calculation unit calculates the moving direction and the position of the workpiece end point, on the basis of forces detected by the force sensor for a plurality of pressing directions.