Robot Force Control Using Virtual Articulation Holding-Force Estimation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing technologies fail to accurately estimate the holding force with which an operator holds an operation body in robots with passive articulations, as they primarily rely on dynamics terms from inverse dynamics calculations, which do not effectively separate holding forces from operating forces.
Innovation Solution
A processing device that estimates the holding force using a model treating the force sensor as a virtual articulation, allowing for the separation of holding and operating forces by considering the dynamics of the robot and the position of the force sensor, enabling precise control of robot motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If inverse dynamics calculation is used to correct force sensor values, then dynamics terms (inertial force, Coriolis force) are accounted for, but the operator cannot estimate the holding force separately from the operating force
Solution Approach 1:
The invention segments the total force detected by the force sensor into two distinct components: holding force and operating force. By introducing a model that represents the robot system excluding the force sensor, the calculation separates these force components mathematically, allowing the holding force to be identified independently from the operating force while maintaining accurate force sensor value correction.
2Reliability
If a model representing the entire robot including force sensor is used, then complete system dynamics are captured, but the holding force cannot be isolated from the dynamics terms
Solution Approach 1:
The invention extracts the force sensor from the robot system model by creating a model that represents the robot excluding the force sensor. This extraction allows the holding force to be isolated by comparing the total force detection with the dynamics calculation from the extracted model, enabling precise holding force measurement while maintaining complete dynamics calculation for the robot system.
Data Source
AI summary
Provided is a processing device that includes a processing unit that estimates a holding force with which an operator holds an operation body on the basis of a model that corresponds to a first robot. The first robot includes the operation body provided in a link connected to a passive articulation and a force sensor that detects a force applied to the operation body. The model regards the force sensor as a virtual articulation.