Robot Force Control Gain Adjustment for Stable High-Speed Motion
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Solution Overview
Problem
Existing technologies require skilled operators to set force control parameters in robot systems, which can lead to oscillation issues when increasing robot velocity, making it difficult for inexperienced operators to achieve optimal settings.
Innovation Solution
A method for adjusting force control parameters in robot systems that involves measuring external forces using second servo gains with higher values than initial gains, optimizing these parameters through an optimization process, and repeating the measurement and update steps to determine suitable force control parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If control parameters are set to increase robot velocity, then productivity is improved, but oscillation occurs making the system unstable
Solution Approach 1:
The patent applies parameter changes by systematically adjusting force control parameters (impedance parameters, force control gains) based on measured oscillation characteristics. The system measures oscillation period and amplitude, then optimizes control parameters to achieve stable high-velocity operation, transforming the trade-off between velocity and stability into a solvable parameter optimization problem.
2Reliability
If control parameters are set to prevent oscillation, then system stability is improved, but robot velocity decreases
Solution Approach 1:
The patent implements feedback by measuring actual oscillation characteristics (period, amplitude) during robot operation and using this information to optimize force control parameters. The system continuously monitors system response and adjusts impedance parameters and force control gains based on measured data, enabling automatic optimization of the stability-velocity trade-off without requiring operator expertise.
3Reliability
If force control parameters are set by skilled operators based on experience, then oscillation can be suppressed, but the system becomes difficult to operate for inexperienced operators
Solution Approach 1:
The patent applies self-service by enabling the system to automatically optimize its own control parameters through measurement and optimization processes. The robot system autonomously measures oscillation characteristics, determines optimal impedance parameters and force control gains, and applies these settings without requiring operator intervention or expertise. This transforms a skill-dependent process into an automated self-optimizing system.
Data Source
AI summary
A method includes a measurement step of producing measured force information of external force by causing a robot to perform an action using second servo gains adjusting force control parameters corresponding to first servo gains when the robot performs a regular task. The measured force information includes an action period of time during which the action is performed, a maximum detected force value of the external force, and a maximum detected torque value of the external force. The method further includes a parameter update step of producing a new candidate value of the force control parameters by carrying out an optimization process on the force control parameters by using the measured force information. The method further includes a parameter determination step of determining the force control parameters used in the force control performed by the robot by repeating the measurement step and the parameter update step.