Robot Force Control with User Dynamics Adaptation
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Solution Overview
Problem
Force control in robot systems is unstable due to changes in users and other factors, affecting frequency characteristics such as stability and responsiveness.
Innovation Solution
A controller with a force controller, estimator, and adjuster that performs force control by estimating user dynamics and adjusting control parameters to maintain target frequency characteristics, stabilizing the behavior of force control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If force control is performed with fixed control parameters, then the control system is simple, but the frequency characteristics (stability and responsiveness) change due to user variations and other factors
Solution Approach 1:
The control parameters are made dynamic rather than fixed. The adjuster dynamically adjusts control parameters based on estimated user dynamic characteristics to maintain stable frequency characteristics despite user variations
Solution Approach 2:
The system implements feedback by estimating user dynamic characteristics from operational data and using this information to adjust control parameters, creating a closed-loop system that adapts to user variations
2Reliability
If control parameters are adjusted for each user to maintain stable frequency characteristics, then stability and responsiveness are improved, but the complexity of the control system increases
Solution Approach 1:
The system performs preliminary estimation of user dynamic characteristics before executing force control tasks, allowing proactive adjustment of control parameters to maintain optimal responsiveness
Solution Approach 2:
The system changes control parameters based on estimated user dynamic characteristics, adapting the force control behavior to match individual user properties while maintaining stable frequency characteristics
Data Source
AI summary
A controller 3 includes: a force controller 36 that performs force control of moving a robot 1 in accordance with an operation force exerted on an operator 2 from a user U to apply a treatment to an object W and of moving the operator 2 in accordance with a reaction force exerted on the robot 1 from the object W; an estimator 37 that estimates a dynamic characteristic of the user U; and an adjuster 310 that adjusts a control parameter of the force control in accordance with the estimated dynamic characteristic of the user such that a frequency characteristic of the force control approaches a target frequency characteristic.