Robot Handle Layout for Intuitive Long-Tool Lead-Through Control
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Solution Overview
Problem
Existing robot operation devices require skilled manipulation for precise positioning and posture control of long tools due to a lack of intuitive lead-through control, making it difficult for operators to intuitively operate robots as if they were directly handling the tools.
Innovation Solution
A robot operation device with handles and sensors that detect force and moment, allowing intuitive lead-through control by arranging a long tool along the central axis of a flange, enabling operators to control the robot's position and posture with ease and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional robot operation devices are used for lead-through control, then the robot can be operated by applying force to handles, but precise positioning and posture control of long tools requires skilled manipulation and lacks intuitiveness
Solution Approach 1:
The operation device is segmented into multiple independent handles (first handle and second handle) that can be held by different hands. Each handle controls specific degrees of freedom, allowing the operator to independently control position and posture of the long tool, thereby improving both intuitiveness and positioning precision.
Solution Approach 2:
The invention adds a spatial dimension to the control interface by arranging handles in three-dimensional space around the tool axis. The handles are positioned at different radial distances and angular positions, creating a spatial mapping between operator hand positions and tool orientation, which enhances the intuitiveness of posture control.
2Ease of operation
If handles are arranged with space from central axis along parallel surfaces, then the operator can hold the handles, but precise control of long tool position and posture becomes difficult
Solution Approach 1:
The handles are arranged asymmetrically with respect to the central axis, with different radial distances and angular positions. This asymmetric arrangement creates a natural mapping between the operator's hand gestures and the tool's posture adjustments, improving posture control precision while maintaining ease of grip.
Solution Approach 2:
The handles serve as intermediary elements between the operator's hands and the tool. By positioning the handles at specific spatial locations around the tool axis, they mediate the transmission of operator intent to the tool's position and posture, enabling precise control through intuitive hand movements.
3Device complexity
If a single handle is used for lead-through control, then the device structure is simple, but operators with different hand dominance cannot operate the device equally well
Solution Approach 1:
The operation device uses multiple handles that can be interchangeably operated by either the left or right hand. Each handle provides similar functional capabilities, allowing operators with different hand dominance to achieve the same control effectiveness by simply switching which hand holds which handle, thereby enhancing adaptability without significantly increasing complexity.
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 operators to accurately and intuitively control the position and posture of long tools, reducing interference with peripheral components and allowing easy teaching and execution of operation programs, regardless of hand dominance.
Implementation Method 1
a sensor configured to attach the handle to the flange, the sensor detecting force or moment applied to the handle by the operator
Data Source
AI summary
An robot operation device attached to a robot having a long tool fixed to a flange provided at a distal end of the robot, the robot operation device includes a handle having an inner hole through which the tool is inserted, the handle configured to be held by one of hands of an operator in a manner that a longitudinal axis of the tool is enclosed by the one of the hands, and a sensor configured to attach the handle to the flange, the sensor detecting force or moment applied to the handle by the operator. The robot is operable by lead-through control which changes a position and posture of the robot in response to the force or the moment detected by the sensor.