Industrial Robot Manual Programming Force Torque Control
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Solution Overview
Problem
Industrial robots risk damaging objects during programming, especially when guided near or on the surface of workpieces, due to excessive force or torque application.
Innovation Solution
A method involving manual movement of the robot along a spatial curve near an object, with real-time measurement and automatic correction of force and torque to maintain within predetermined maximum limits, and storing actual position values for later automated operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot is manually guided along a spatial curve near or on the surface of an object during programming, then the programming precision and ability to follow contours is improved, but the risk of damaging the object due to excessive force or torque increases
Solution Approach 1:
The patent implements force/torque sensing with real-time measurement during manual robot movement. The control system continuously monitors the force and torque values and provides feedback to automatically correct the robot's movement, ensuring that predetermined maximum force and torque limits are not exceeded while maintaining programming precision
Solution Approach 2:
The system dynamically adjusts the robot's movement during manual guidance by automatically correcting position based on real-time force/torque measurements. The correction magnitude and direction are dynamically determined to maintain force/torque within safe limits while following the desired spatial curve
2Reliability
If the robot applies sufficient force to maintain contact with the object during programming, then the ability to follow surface contours is improved, but the risk of applying excessive force that damages the object increases
Solution Approach 1:
The force/torque sensor provides continuous feedback on the contact force between the robot and object. The control system uses this feedback to automatically adjust the robot's movement, maintaining contact when needed while preventing excessive force application that could damage the object
Solution Approach 2:
The system changes the force/torque parameters in real-time during robot movement. By monitoring and adjusting these parameters, the system maintains reliable contact for contour following while ensuring force remains within safe limits to prevent object damage
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
Reduces the risk of object damage by ensuring consistent and controlled force and torque application during programming, allowing precise contour following without harming the object.
Implementation Method 1
measuring a force acting on the industrial robot due to contact with the object and/or a torque acting on the industrial robot due to contact with the object
Data Source
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AI summary
The method involves manually moving an industrial robot (R) along a space curve, which runs along proximity of a surface of an object (19). Force caused due to contact with the object and the torque caused due to contact with the object during manual movement are measured. The robot movement during manual movement along the curve is corrected automatically so that the force is equal to a predetermined maximum force, and the torque is equal to a predetermined torque. Position-actual-values of the robot during movement along curved are stored. An independent claim is also included for an industrial robot.