Robot Force-Control Simulation With Virtual Contact Force Feedback
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Solution Overview
Problem
Existing robot simulation devices lack the ability to facilitate intuitive parameter setting for force control operations, requiring skilled adjustment and repeated attempts to achieve proper settings.
Innovation Solution
A robot simulation device equipped with a memory for storing motion programs and force control parameters, featuring a force control simulation execution part that generates virtual forces based on position information to simulate force control operations, allowing operators to intuitively understand and adjust force control parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If force control operation is performed with a robot manipulator equipped with a force sensor, then advanced operations such as exploration operations, fitting operations, and polishing can be performed, but skilled parameter adjustment ability is required and operators must repeatedly fail and succeed to acquire parameter setting know-how
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing the relationship between robot position and virtual force in a lookup table before actual force control execution. This allows the system to perform advanced force control operations without requiring operators to undergo repeated trial-and-error learning, as the parameter adjustment knowledge is prepared in advance through simulation and stored for direct retrieval during operation.
2Ease of operation
If traditional simulation methods are used without virtual force generation, then simulation can be performed with simpler computation, but operators cannot intuitively understand the generation state of pressing force and easily carry out force control parameter setting
Solution Approach 1:
The patent introduces a virtual force generation mechanism as an intermediary between the robot position and the force control parameters. This virtual force, generated based on position information from simulation results, serves as a mediator that provides operators with intuitive feedback about pressing force generation states, enabling easier parameter setting without requiring complex physical force sensors or measurement systems.
Solution Approach 2:
The patent creates a virtual copy of the force interaction by generating virtual force values that replicate the pressing force that would occur during actual contact between the tool and workpiece. This virtual force copy allows operators to intuitively understand force generation states and adjust parameters without needing complex physical measurement systems or repeated physical trial-and-error.
Data Source
AI summary
There is provided a robot simulation part device which can facilitate the setting of parameters of force control. A robot simulation device for simulating a force control operation which is performed while bringing a tool part mounted on a robot manipulator into contact with a target workpiece includes a memory which stores a motion program and a force control parameter, which is a set parameter related to the force control operation, and a force control simulation execution part which executes a simulation of the force control operation based on the motion program and the force control parameter, wherein the force control simulation execution part has a virtual force generation part configured to generate, based on position information of the tool part obtained from results of the simulation of the force control operation, a virtual force received by the tool part from the target workpiece in a state in which the tool part is in contact with the target workpiece, and executes the simulation of the force control operation based on the virtual force and a target force set as the force control parameter.