Robot Hand Height Correction for Workpiece Deflection
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Solution Overview
Problem
Existing robot systems fail to adequately account for variations in deflection caused by factors other than the robot's posture, leading to suboptimal position accuracy of the hand when handling workpieces.
Innovation Solution
A robot system that includes a controller capable of correcting the target height of the hand based on the workpiece being held, using motor current variations to adjust for deflection and weight changes during the transfer process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If position control is performed without correcting for workpiece-related deflection variations, then the control system remains simple, but position accuracy of the hand deteriorates
Solution Approach 1:
The controller dynamically adjusts the target height parameter of the hand based on detected workpiece properties (weight, dimensions, shape). By changing the control parameter (target height) according to workpiece characteristics, the system compensates for deflection variations without requiring complex structural modifications to the robot arm itself.
Solution Approach 2:
The system incorporates detection of workpiece properties (weight, dimensions, shape) and uses this feedback information to adjust the target height in the position control. This closed-loop approach allows the controller to adapt to varying workpiece conditions and maintain position accuracy despite changes in deflection characteristics.
2Manufacturing precision
If the robot arm structure is made more complex to compensate for deflection, then position accuracy improves, but the robot becomes more expensive and harder to maintain
Solution Approach 1:
Instead of modifying the mechanical structure of the robot arm to compensate for deflection, the patent substitutes a control-based approach. The controller calculates and adjusts target heights based on workpiece properties, replacing the need for complex mechanical compensation mechanisms with an intelligent control system that processes sensor data and adjusts positioning accordingly.
Solution Approach 2:
The system maintains a relatively simple robot arm structure by dynamically changing the control parameter (target height) based on workpiece characteristics. This allows the same physical hardware to handle various workpieces with different deflection properties without requiring custom mechanical adjustments or complex structural modifications.
3Adaptability or versatility
If the robot handles various workpieces with different properties, then versatility improves, but position accuracy deteriorates due to varying deflection
Solution Approach 1:
The system transitions from static position control to dynamic control by continuously adjusting the target height based on detected workpiece properties. This dynamic adaptation allows the robot to maintain position accuracy across different workpieces by real-time modification of control parameters according to the specific workpiece characteristics.
Solution Approach 2:
The controller modifies the target height parameter dynamically based on workpiece properties such as weight, dimensions, and shape. This parameter adjustment enables the robot to adapt to various workpieces while maintaining position accuracy, as each workpiece's specific characteristics are taken into account when calculating the appropriate target position.
Data Source
AI summary
A robot system includes: a robot including a hand that holds a workpiece and a robot arm to which the hand is coupled; and a controller that moves the robot arm to perform position control of the hand. The controller corrects a target height of the hand in the position control depending on the workpiece held by the hand.