Robot Handle Force Sensing for Precise Inching Position Control
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Solution Overview
Problem
Existing robot systems that rely on a handling force for operation lack precision in adjusting the robot's position, leading to inaccuracies during teaching and operation.
Innovation Solution
Incorporating a force sensor to detect handling forces applied to a robot's handle and executing an inching motion based on these detected forces, allowing for precise position adjustments by determining a movement amount and direction, thereby enhancing operational accuracy and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robot system uses a lead-through function that causes the robot to operate in response to handling force applied to a handle, then the robot can be controlled by operator input, but the position adjustment accuracy is insufficient
Solution Approach 1:
The robot control system is segmented into two distinct modes: lead-through mode for coarse positioning using handling force, and inching mode for fine positioning using button inputs. This segmentation allows each mode to optimize for its specific purpose, with the inching mode providing precise incremental movements (e.g., 1mm per button press) that supplement the less precise lead-through mode.
Solution Approach 2:
The system dynamically switches between lead-through mode and inching mode based on operational needs. The control device transitions from force-based continuous movement to discrete button-based incremental movement, allowing the operator to first position the robot roughly via handle manipulation, then refine the position with precise button presses for high-accuracy adjustments.
2Adaptability or versatility
If the robot moves in response to handling force, then operation flexibility is maintained, but movement control precision deteriorates
Solution Approach 1:
The movement control is segmented into two layers: macro-movement through lead-through mode for flexible positioning, and micro-movement through inching mode for precision control. The inching mode uses button inputs to generate predetermined small movement amounts, ensuring that fine adjustments are made with high precision while maintaining overall operational flexibility.
Solution Approach 2:
The inching mode acts as an intermediary mechanism between the operator and the robot's precise positioning. Instead of relying directly on handling force for fine adjustments, the operator uses button inputs that are translated by the control device into precise incremental movements, with the movement amount being determined by the control device based on the button input and current robot state.
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 high-accuracy positioning of the robot by allowing operators to finely adjust the robot's position in response to handling forces, improving operational precision and safety by preventing unintended movements.
Implementation Method 1
a force sensor configured to detect a handling force applied to the handle
Data Source
AI summary
A robot system causing a robot to operate in response to a handling force, wherein a position of the robot can be adjusted with higher accuracy. In one aspect of the present disclosure, a robot system includes a robot having a handle, a force sensor configured to detect a handling force applied to the handle, and an inching motion execution section configured to execute an inching motion of causing the robot to move by a movement amount determined in response to the handling force detected by the force sensor.