Force-Sensing Robot Insertion Control to Prevent Object Deformation
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Solution Overview
Problem
Existing robot systems face challenges in fitting objects without deforming them, as they move and explore the shape of the second object while in contact, leading to potential deformation of both objects during the fitting process.
Innovation Solution
The robot system uses a force detector to determine if the first object has come into contact with a position different from the insertion portion of the second object, and then moves in a specific direction to separate them, employing various trajectories such as straight lines or spirals to adjust the relative position and prevent deformation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot moves the first object while in contact with the second object to explore its shape, then the exploration action is achieved, but deformation of one or both objects may occur
Solution Approach 1:
The robot performs a contact action to bring the first object into contact with the second object before exploration. This preliminary contact establishes a stable baseline position, allowing subsequent exploration movements to be detected as deviations from this baseline, enabling shape exploration without deformation
Solution Approach 2:
The robot detects contact force between the first and second objects during movement. When contact force exceeds a threshold indicating improper contact (contact with position different from insertion portion), the system provides feedback to separate the objects, preventing deformation while maintaining exploration capability
2Manufacturing precision
If the robot separates the objects after detecting improper contact, then deformation is suppressed, but additional time is required for separation and repositioning
Solution Approach 1:
When improper contact is detected, the robot immediately executes a rapid separation movement to quickly return the first object to a safe position. This rushing through the correction process minimizes the time lost while ensuring deformation is prevented
Solution Approach 2:
The robot performs periodic contact actions to bring the first object into contact with the second object for exploration, followed by periodic separation actions when improper contact is detected. This rhythmic pattern of contact-exploration-separation optimizes the balance between shape exploration and deformation prevention over time
Data Source
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AI summary
A robot (20) includes an arm, and a force detector (21) provided in the arm and detecting a force, wherein at least one of a first object (P1, P2) and a second object is moved in a direction in which the first object (P1, P2) and the second object get closer to each other by the arm, and, if contact of the first object with a position different from an insertion portion of the second object is determined based on output of the force detector, the first object (P1, P2) and the second object are separated.