Robot System Force Feedback via Sensor Display
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Solution Overview
Problem
Existing robot systems cannot accurately convey the force acting on a target from a robot arm to the operator, as the feedback is limited to a sensation in the operator's hand, preventing them from grasping the actual force on the target.
Innovation Solution
A robot system comprising a master robot, a slave robot, a force sensor, a display, and a controller, where the force sensor detects the reaction force on the target and the controller displays this data on the display, allowing the operator to grasp the actual force acting on the target.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If force sensor feedback is provided to the operator's hand through the operation device, then the operator can feel the reaction force, but the operator cannot accurately grasp the actual force acting on the target
Solution Approach 1:
A force sensor is introduced as an intermediary device between the robot arm and the target. The force sensor is coupled to the robot arm and detects the actual force acting on the target, then transmits this information to the operator through the operation device. This intermediary enables accurate force measurement while maintaining the tactile feedback connection.
Solution Approach 2:
The patent replaces the direct mechanical force transmission path with an information-based system. Instead of relying solely on mechanical feedback to the operator's hand, the system uses sensors to detect forces and displays this information visually or auditorily, substituting the mechanical feedback mechanism with a multi-sensory information transmission system.
2Device complexity
If only tactile sensation feedback is provided to the operator, then the system remains simple, but the operator cannot obtain accurate force data
Solution Approach 1:
The operation device is designed with multi-functionality, serving both as the control interface for the robot arm and as the feedback channel for force information. The force sensor integrated into the operation device performs both force detection and information transmission functions, allowing the system to provide accurate force data without significantly increasing overall system complexity.
Solution Approach 2:
The system implements a feedback loop where the force sensor continuously monitors the actual force acting on the target and transmits this information back to the operator through the operation device. This feedback mechanism enables the operator to receive real-time force data, improving situational awareness and control accuracy.
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
Enables operators to accurately perceive and understand the forces acting on targets during robotic operations, improving control and precision in tasks such as filing, grinding, and other processing activities.
Implementation Method 1
a force sensor that detects a reaction force of a force acting on a target from the second tool
Data Source
AI summary
Achieved is a robot system that enables a worker and the like to grasp, as data, a force actually acting on a target. A robot system includes a master robot, a slave robot, a force sensor, a display, and a controller, the controller being configured to carry out a display process of, on the display, displaying force data indicative of a reaction force which has been detected by the force sensor.