Robot Hand Arm Control via Object-Based Coordinates
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Solution Overview
Problem
Current robot control systems require separate manipulators to independently control robot arms and hands, leading to reduced working efficiency and misalignment between user-intended and robot-executed motions when gripping objects.
Innovation Solution
A robot system incorporating a grip sensor unit, grip control unit, and coordinate transformation unit that allows independent control of robot arms and hands using object-based coordinates, determining whether the robot hand grips an object to switch between object-based and independent coordinates for precise motion control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If separate manipulators are used to independently control robot arm and robot hand, then independent control capability is improved, but device complexity increases and working efficiency decreases
Solution Approach 1:
The patent merges the control of robot arm and robot hand into a single integrated manipulator system. The control unit receives user input and automatically generates coordinated control signals for both the arm and hand, eliminating the need for separate manipulators while maintaining independent control capability through software-based coordination.
Solution Approach 2:
The single manipulator is designed to perform multiple functions: controlling both the robot arm for positioning and the robot hand for gripping. The control unit acts as a universal controller that adapts its output based on the operational mode, serving both control functions through one device.
2Adaptability or versatility
If separate manipulators control robot arm and robot hand independently, then control flexibility is improved, but motion alignment accuracy deteriorates when gripping objects
Solution Approach 1:
The control unit implements feedback mechanisms to monitor the actual positions and states of both the robot arm and robot hand. Based on this feedback, the control unit adjusts control signals to ensure that the arm and hand movements are properly synchronized, maintaining accurate motion alignment during gripping operations while preserving control flexibility.
Solution Approach 2:
The manipulator system dynamically switches between different control modes: independent control mode for flexible positioning and coordinated control mode for precise gripping operations. This dynamic adaptation allows the system to maintain both control flexibility and motion alignment accuracy depending on the operational requirements.
3Manufacturing precision
If object-based coordinate transformation is implemented, then motion alignment accuracy is improved, but device complexity increases
Solution Approach 1:
The control unit serves as an intermediary that performs object-based coordinate transformations. Instead of adding separate hardware for coordinate transformation, the control unit processes user input through coordinate transformation algorithms, converting movements in one coordinate system to the appropriate movements in another, thereby achieving accurate motion alignment through software-based mediation.
Data Source
AI summary
A robot and method of controlling the same are provided. The robot includes a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, a grip control unit configured to determine whether the hand grips the object from gripping information obtained from the grip sensor unit, select an object-based coordinate to control the hand and the arm based on a motion of the object or an independent coordinate to independently control the hand and the arm according to a result of the determination, and control the hand and the arm based on the selected coordinate, and a coordinate transformation unit configured to calculate a position and a direction of a virtual object based on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit.