Robot Force Teaching Along a Preprogrammed Path
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Solution Overview
Problem
Current robotics systems require complex programming for force control, particularly for contact tasks, which can be cumbersome and inefficient, especially for collaborative robots where force programming is typically done through coding.
Innovation Solution
A method that allows an operator to directly program the force exerted by a robot's working end along a preprogrammed trajectory by applying an opposing force proportional to the intended task force, with the robot's control unit determining and storing the resistant force to maintain the working end's position, simplifying the programming process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force programming is done through traditional coding methods, then the robot can precisely control the force applied during contact tasks, but the programming process becomes complex and time-consuming
Solution Approach 1:
Instead of programming the robot to apply a specific force directly, the system inverts the approach by having the operator apply an opposing force to the robot's working end. The robot's motorization then generates a resistant force to maintain position, and this resistant force is used to determine the desired force profile. This inversion transforms a complex control programming task into a simple physical interaction.
Solution Approach 2:
The operator acts as an intermediary between the programming interface and the robot system. By physically interacting with the working end during movement, the operator indirectly programs the force characteristics through their applied force, which the robot's control system measures and stores as the desired force profile for later execution.
2Reliability
If force programming is done through direct coding of motorization control instructions, then the robot can apply the desired force at each trajectory point, but the programming process becomes inefficient and difficult for operators
Solution Approach 1:
The system inverts the traditional force programming approach by having the operator apply an opposing force during robot movement rather than coding the force profile directly. The robot's motorization generates a resistant force to maintain position, and this resistant force is determined and stored for use during task execution, transforming complex coding into simple physical interaction.
Solution Approach 2:
The robot system automatically determines the desired force profile from the operator's applied force during movement. The control unit continuously monitors the motorization's resistant force and stores this information in association with the working end's position, eliminating the need for manual force programming and enabling the system to self-program during the teaching phase.
3Manufacturing precision
If the robot uses motorization control to maintain the working end in position during movement, then the robot can accurately track the preprogrammed trajectory, but additional force control programming is required
Solution Approach 1:
The robot system automatically determines the desired force profile from the operator's applied force during movement. The control unit continuously monitors the motorization's resistant force and stores this information in association with the working end's position, eliminating the need for manual force programming and enabling the system to self-program during the teaching phase.
Solution Approach 2:
The system implements feedback by continuously monitoring the motorization's resistant force during movement and using this information to determine the desired force profile. The control unit measures the force required to maintain position against the operator's applied force and stores this feedback for reproduction during task execution, creating a closed-loop programming approach.
Data Source
AI summary
Method for programming a force to be applied by a working end of a robot, along at least part of a preprogrammed path of the working end, the method comprising the steps of: —moving the working end of the robot over the said at least part of the preprogrammed path, the driving of the robot being feedback-controlled in order to keep the working end in position without a force setpoint, —at least at one position during the movement, having an operator apply to the working end a force which is the opposite of that which is to be applied during the task and which has an intensity proportionate to that which is to be applied during the task, —determining the force that is to be applied during the task from the resistive force exerted by the robot in order to keep the working end on the path, —storing in memory the force thus determined in relation to the position of the working end while the opposing force is being applied.