Handling Robot Glove Control for Rotation-Translation Discrimination
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Solution Overview
Problem
Current handling robots face difficulties in accurately discriminating between translation and rotational movements applied by operators due to the ambiguity caused by the flexibility and geometric characteristics of the parts being handled, as well as the inertia of the objects, which disrupts the robot's acquisition of the desired movement, leading to instability and precision issues in force measurement and control.
Innovation Solution
A method of controlling handling robots using a glove with contact sensors on multiple fingers and a palm, combined with an inertial unit for orientation measurement, which allows for intuitive control by decoding signal combinations to distinguish between movement types without requiring knowledge of the effort orientation or distance from the robot, and reduces dependency on precise force measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force measurement is performed through the workpiece using sensors, then the robot can detect operator's intention, but the flexibility and geometric characteristics of the workpiece cause ambiguity between translational and rotational movements
Solution Approach 1:
The patent introduces an intermediary manipulation interface with sensors that directly captures operator's hand movements and forces, bypassing the workpiece as the measurement medium. This interface includes force sensors and motion sensors that detect both linear and rotational components of operator input, providing unambiguous control signals to the robot controller without being affected by workpiece flexibility or geometry
Solution Approach 2:
The patent adds a new dimension of control by implementing a manipulation interface that simultaneously measures both force and motion in multiple degrees of freedom. The interface captures both translational and rotational movements of the operator's hand, transforming the control problem from interpreting ambiguous workpiece deformation to directly measuring multidimensional operator intent
2Device complexity
If the robot is mechanically reversible without force measurement, then the system is simpler, but it cannot accurately interpret the operator's intended movement direction
Solution Approach 1:
The patent merges force measurement and motion measurement capabilities into a single manipulation interface unit. This combined interface simultaneously captures both the magnitude/direction of applied forces and the actual motion of the operator's hand, providing comprehensive control data without requiring separate force sensors and motion sensors distributed throughout the robot structure
Solution Approach 2:
The manipulation interface enables the operator to directly control the robot's movement through intuitive hand movements. The interface automatically translates the operator's natural gripping and moving actions into appropriate robot control commands, making the system easy to operate without requiring complex force measurement interpretation
3Speed
If feedback loop is implemented with manipulation interface sensors, then control responsiveness is improved, but instability occurs due to ambiguity in movement transmission through the workpiece
Solution Approach 1:
The manipulation interface acts as a stable intermediary that directly transmits operator's hand movements to the robot controller without involving the workpiece as a transmission medium. This eliminates the instability caused by workpiece flexibility while maintaining rapid response to operator input
Solution Approach 2:
The patent implements a feedback loop where the manipulation interface continuously monitors both force and motion, and the robot controller uses this combined information to provide responsive and stable control. The feedback signal is derived from direct measurement of operator intent rather than from interpreting workpiece deformation, ensuring both responsiveness and stability
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
This approach enables clear discrimination between rotation and translation instructions, improving control precision and manipulability while potentially reducing system costs, and allows for more complex movements to be controlled without the need for precise force measurement, enhancing the overall intuitive nature of the control method.
Implementation Method 1
combined with an inertial unit for orientation measurement
Implementation Method 2
a glove including a first finger provided with a first contact sensor and a second finger provided with a second contact sensor
Data Source
Figure 1
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AI summary
A method for controlling a robot (1) for handling a part to be handled (14), the handling robot (1) being linked to a control interface comprising a glove (40) comprising a first finger (41) provided with a first contact sensor (42) and a second finger (43) provided with a second contact sensor (44), the method comprising the following steps; a) associating, in a signal library (25), a first and a second recorded combination of signals (26, 21); b) acquiring a combination of signals originating from the sensors (26, 27) of the glove (40); c) comparing the acquired combination of signals with the recorded combinations (27, 28, 29) in the library (25); d) controlling the handling robot (1) in such a way as to perform a movement according to the velocity vector associated with the acquired combination of signals. A handling glove (40) and handling device implementing the method.