Robot Force Control Parameter Setup by Position and Configuration
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Solution Overview
Problem
Users, especially beginners, find it difficult to adjust fixed initial force control parameters for robots independently of operations, leading to a lot of trial and error or inability to make adjustments effectively.
Innovation Solution
A robot control apparatus that includes a receiving unit for position information and an initial value determination unit to determine initial values of mass and viscosity coefficients based on robot configuration and position, allowing for easier setting of force control parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If fixed initial values of force control parameters are used, then the control system is simple to implement, but it is difficult for beginners to adjust the parameters to values suitable for specific operations
Solution Approach 1:
The system automatically determines appropriate initial values of force control parameters based on the detected operation type, eliminating the need for manual adjustment by users. The robot control apparatus performs self-configuration by selecting parameters matched to the specific operation being executed
Solution Approach 2:
The system pre-calculates and stores multiple sets of force control parameters corresponding to different operation types before actual operation begins. When an operation is detected, the pre-prepared parameter set is automatically selected and applied, avoiding real-time adjustment needs
2Reliability
If fixed initial values of force control parameters are used, then the system structure is simple, but users unskilled in processing take a lot of trial and error for adjustment
Solution Approach 1:
The system detects the actual operation being performed and uses this feedback information to automatically select the appropriate force control parameters. The parameter selection is driven by real-time operation detection, ensuring parameters match the current task requirements
Solution Approach 2:
The system changes the initial values of force control parameters based on the detected operation type. Different operation types correspond to different parameter sets, allowing the system to adapt parameters dynamically without manual intervention
3Ease of operation
If fixed initial values of force control parameters independent of operations are used, then the control system is easy to implement, but beginners are practically unable to make effective adjustments
Solution Approach 1:
The system provides a universal parameter selection mechanism that handles multiple different operation types through a single automated framework. One system serves all operation types by automatically selecting the appropriate parameters based on detected operations
Solution Approach 2:
The force control parameters transition from static fixed values to dynamic values that automatically adapt to different operations. The parameter selection changes based on the detected operation type, making the system flexible and adaptable without requiring user expertise
Data Source
AI summary
A robot control apparatus includes a processor that is configured to: receive first position information representing a first position in which a first operation including force control to be performed based on magnitude of a force detected by a force detector should be executed; determine an initial value of one of a mass coefficient and a viscosity coefficient that should be used in the force control of the first operation based on specific information on a configuration of a robot stored in a memory unit and the first position information; and store the initial value in the memory.