Robot Hand Sensing for Real-Time Object Characteristic Estimation
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Solution Overview
Problem
In manufacturing processes, particularly in factories, inspecting products for characteristics such as size, shape, and hardness can be time-consuming and labor-intensive, especially when using robot hands, as existing methods lack efficient and accurate means to estimate these properties in real-time.
Innovation Solution
A characteristic estimation system comprising a robot hand equipped with sensors that grip objects and estimate characteristics based on physical quantities like torque, force, and motor encoder signals, using a network-connected user terminal and robot controller to process and store data for accurate estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robot hands are used to grip and inspect objects, then automation is improved, but inspection time and complexity increase
Solution Approach 1:
The patent replaces complex mechanical inspection systems with a sensor-based estimation system. Sensors mounted on the robot hand detect physical quantities (torque, force, acceleration) during gripping, and these measurements are processed to estimate object characteristics. This substitution of mechanical inspection with sensor-based detection reduces inspection time while maintaining automation.
2Measurement precision
If physical quantities are measured during gripping, then characteristic estimation accuracy is improved, but system complexity increases
Solution Approach 1:
The patent makes the robot hand multi-functional by equipping it with both gripping capability and sensing capability. The same robot hand that performs manipulation also performs measurement by detecting physical quantities during gripping. This eliminates the need for separate inspection devices, reducing overall system complexity while improving measurement precision through integrated sensing.
Solution Approach 2:
The robot hand performs self-measurement by detecting physical quantities (torque, force, acceleration) during its own gripping operation. The sensing system is integrated into the robot hand itself, allowing it to characterize objects it manipulates without requiring external measurement equipment. This self-service approach reduces system complexity while maintaining high measurement accuracy.
3Measurement precision
If multiple sensors are integrated in the robot hand, then measurement capability is improved, but device complexity increases
Solution Approach 1:
The patent merges multiple sensing functions into a single integrated robot hand system. Sensors for detecting torque, force, and acceleration are combined within the robot hand structure, allowing simultaneous measurement of multiple physical quantities during gripping. This consolidation improves measurement capability while managing device complexity through integrated design rather than separate measurement systems.
Data Source
AI summary
A characteristic estimation system, comprising circuitry configured to, cause a robot hand configured to grip an object to operate based on operation information defining an operation of the robot hand, acquire a physical quantity at a time when the robot hand grips the object, and estimate a characteristic of the object based on the physical quantity.