Robot Arm Force-Pattern Control Without HMI Conversion Steps
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Solution Overview
Problem
Current methods for controlling collaborative robots are inefficient and error-prone, requiring operators to use display-based human-machine interfaces that involve complex conversions and instructions, which decrease work efficiency and reliability.
Innovation Solution
A method and controller that detect patterns of external forces applied to the robot, such as tapping or pushing, to control its actions, eliminating the need for intermediate steps and providing intuitive operation by comparing detected patterns with predetermined ones, and using sensors like torque or current sensors to implement this method.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If display-based human-machine interface methods are used to control the robot, then the robot can be controlled to perform various actions, but the control process becomes complex and inefficient requiring multiple intermediate steps and conversions
Solution Approach 1:
The patent introduces force sensors as an intermediary device between the operator and the robot control system. Instead of directly interacting with complex software interfaces, the operator applies physical forces to the robot which are detected by sensors and converted into control commands. This intermediary mechanism simplifies the control process by replacing multiple interface steps with direct physical interaction.
Solution Approach 2:
The patent replaces the traditional mechanical/electronic control interface (buttons, screens, keyboards) with a force-based control mechanism. The operator's physical gestures and forces applied to the robot are directly translated into control actions, substituting the need for complex display-based interfaces with intuitive mechanical interaction.
2Productivity
If traditional HMI methods are used for robot control, then various robot actions can be executed, but the work efficiency decreases due to multiple conversion steps and instructions
Solution Approach 1:
The patent extracts and eliminates the unnecessary intermediate conversion steps from the control process. By directly mapping physical forces to control commands, the system removes multiple layers of instruction translation and data conversion that exist in traditional HMI methods, thereby reducing control operation time and improving productivity.
Solution Approach 2:
The patent enables skipping of multiple intermediate control steps by allowing direct force-based command issuance. Instead of proceeding through sequential interface interactions, the system rushes through the control process by interpreting physical gestures as direct commands, significantly reducing the time required to execute robot actions.
3Reliability
If display-based control interfaces are used, then robot operations can be monitored and controlled, but the reliability decreases due to potential for errors in complex interface operations
Solution Approach 1:
The patent enables the robot to serve itself through force-based control where the operator's natural physical interactions directly control robot actions without requiring interpretation of complex interface commands. The system automatically detects forces, interprets intentions, and executes appropriate actions, reducing human error potential while maintaining operational simplicity.
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 more intuitive and efficient control of robots, improving user experience and reliability by directly associating specific force patterns with actions, thus enhancing the applicability and intelligence of the robot.
Implementation Method 1
detecting the magnitude from at least one of a torque sensor or a current sensor arranged on a joint between two arm links of the robot
Implementation Method 2
detecting the magnitude from at least one of a torque sensor or a current sensor arranged on a joint between two arm links of the robot
Data Source
AI summary
Embodiments of the present disclosure provide a method and a controller of controlling a robot. The method comprising detecting a pattern of a series of external forces applied on a portion of at least one arm link of the robot; comparing the pattern with a predetermined pattern associated with the portion; and in accordance with a determination that the detected pattern matches the predetermined pattern, controlling the robot to perform an action corresponding to the predetermined pattern. By introducing a pattern of a series of external forces applied on a robot to control the robot, the control of the robot can be done more intuitively. In this way, some intermediate steps such as conversion of view angle and instructions required to use the HMI-based methods are omitted, thereby improving efficiency or reliability of the robot.