Robot Hand Sensor Integration for Z-Position Accuracy
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Solution Overview
Problem
Existing robot technologies face challenges in accurately holding workpieces due to the need for complex sensor configurations and environmental limitations, leading to inefficiencies and increased costs.
Innovation Solution
A robot apparatus with a hand part equipped with multiple finger parts, each featuring first and second detection regions for pressure component detection, and a control apparatus that generates control commands based on sensor outputs to manage the hand part's operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a two-dimensional laser displacement sensor and three-dimensional model are used to recognize workpiece position, then Z-position accuracy is improved, but device complexity and environmental limitations increase
Solution Approach 1:
The patent extracts the essential function of position detection from complex external sensors and integrates it directly into the hand part structure. The sensor is embedded in the finger tip, eliminating the need for separate laser displacement sensors and three-dimensional models, thereby reducing device complexity while maintaining Z-position accuracy.
Solution Approach 2:
The patent introduces an intermediary approach by using a simplified sensor that directly measures contact forces and moments at the hand-workpiece interface. This intermediary sensor converts mechanical interactions into control signals, eliminating the need for complex environmental sensing systems.
2Measurement precision
If multiple omnidirectional imaging devices are used to detect workpiece position, then position detection capability is improved, but calculation cost and processing time increase
Solution Approach 1:
The patent extracts the position detection function from multiple imaging devices and consolidates it into a single sensor system integrated in the hand part. This eliminates the need for complex image processing pipelines while maintaining accurate position detection through direct force and moment measurement.
Solution Approach 2:
The patent replaces optical imaging systems with a mechanical sensing approach. Instead of using cameras and image processing to detect position, the system uses direct mechanical contact sensing to measure forces and moments, thereby eliminating computational processing time entirely.
3Measurement precision
If various sensors are arranged in working environment to detect workpiece position, then position detection accuracy is improved, but space efficiency and adaptability deteriorate
Solution Approach 1:
The patent merges the position detection function with the hand part structure itself. By integrating the sensor directly into the finger tip, the system eliminates the need for separate sensor arrangements in the working environment, thereby improving space efficiency and layout flexibility while maintaining position detection accuracy.
Solution Approach 2:
The patent uses the hand part as an intermediary carrier for the sensor. Instead of arranging sensors in the environment, the sensor is carried by the hand part to the workpiece interface, where it performs detection functions. This intermediary approach provides maximum adaptability to different working environments.
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
Enables accurate and efficient holding of workpieces with a simple sensor configuration, reducing environmental limitations and improving space efficiency while minimizing calculation costs and latency.
Implementation Method 1
first detection regions capable of detecting pressure components parallel to a first axis direction which is a holding direction for the workpiece and second detection regions capable of detecting pressure components parallel to a second axis direction intersecting with the first axis direction
Data Source
AI summary
A robot apparatus according to an embodiment of the present technology includes a hand part, a plurality of sensor parts, and a control apparatus. The hand part with a plurality of finger parts is capable of holding a workpiece. The plurality of sensor parts is respectively provided to the plurality of finger parts. The plurality of sensor parts respectively has first detection regions capable of detecting pressure components parallel to a first axis direction which is a holding direction for the workpiece and second detection regions capable of detecting pressure components parallel to a second axis direction intersecting with the first axis direction. The control apparatus is configured to generate a control command for controlling the hand part on the basis of outputs from the plurality of sensor parts.