Robot Manipulator Insertion With Force-Regulated Tilting Feedback
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Solution Overview
Problem
Existing methods for inserting objects into object-receiving areas using robot manipulators are not robust or efficient, often failing to ensure precise alignment and secure insertion within specified tolerances.
Innovation Solution
A method involving an actuator-driven robot manipulator with a gripper effector that moves along a defined three-dimensional trajectory, using force-regulated and impedance-regulated rotating/tilting motions to insert objects, with adaptive parameters for error correction and trajectory adjustments based on sensor feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional robot manipulator insertion methods are used, then the device complexity is low, but the reliability of successful insertion is poor
Solution Approach 1:
The patent implements force feedback and impedance control during the insertion process. Sensors measure forces and torques acting on the effector, and this feedback is continuously used to adjust the robot manipulator's motion. The control system monitors insertion forces and adapts the trajectory and speed in real-time, ensuring reliable insertion while managing the increased complexity through intelligent control algorithms.
Solution Approach 2:
The patent employs dynamic control strategies including impedance regulation and adaptive force control. The robot manipulator transitions from rigid positioning to compliant interaction during insertion, allowing it to adapt to variations in the object-receiving area. This dynamic approach enables the system to handle uncertainties and achieve high reliability despite the added control complexity.
2Manufacturing precision
If force-regulated and impedance-regulated rotating/tilting motions are applied, then the manufacturing precision of insertion is improved, but the use of energy increases
Solution Approach 1:
The patent dynamically changes control parameters including force magnitudes, impedance values, and motion speeds during the insertion process. The system adjusts these parameters based on real-time feedback to optimize the balance between precision and energy consumption. By adapting parameters rather than maintaining constant high-energy settings, the system achieves precise alignment while managing energy usage.
Solution Approach 2:
The patent employs periodic or intermittent application of force-regulated and impedance-regulated motions rather than continuous high-energy operation. The rotating and tilting motions are applied in controlled phases during insertion, allowing energy recovery or reduction during non-critical phases while maintaining precision when needed.
3Reliability
If the effector makes translational lateral motions along the inserting trajectory, then the reliability of insertion is increased, but the time required for insertion increases
Solution Approach 1:
The patent performs preliminary alignment and positioning of the object using translational lateral motions before the final insertion phase. By pre-adjusting the object's position and orientation along the trajectory, the system ensures reliable insertion while minimizing the time required during the critical final insertion stage. This preliminary preparation reduces the need for corrective motions during actual insertion.
Solution Approach 2:
The patent implements dynamic trajectory optimization where the effector's lateral motions are adaptively adjusted during insertion. The system increases lateral adjustment movements when misalignment is detected and reduces them when alignment is achieved, thereby maintaining high reliability while minimizing unnecessary time consumption. The motion profile is continuously optimized based on real-time feedback.
Data Source
AI summary
A method and robot for inserting an object into an object-receiving area using an actuator-driven robot manipulator of a robot, wherein the robot manipulator has an effector at its distal end, designed to receive and/or grip the object, and wherein an inserting trajectory T is defined for the object-receiving area and the object to be inserted, and a target orientation Osoll({right arrow over (R)}T) of the object to be inserted is defined along the inserting trajectory T for locations {right arrow over (R)}T of the inserting trajectory T including the following operations: receiving/gripping the object using the effector, moving the object using the robot manipulator along the inserting trajectory {right arrow over (T)} into the object-receiving area while continuously performing predetermined tilting motions of the object that are closed and cyclical motions relative to the target orientation Osoll({right arrow over (R)}T) via a force-regulated and/or impedance-regulated control of the robot manipulator until a specific threshold condition G1 for a torque acting on the effector and/or a force acting on the effector is reached or exceeded, and/or a provided force/torque signature and/or a position/speed signature on the effector is reached or exceeded, which indicate(s) that the object has been completely successfully inserted into the object-receiving area within specified tolerances; releasing the object by the effector; and moving the effector away from the object-receiving area along the exit trajectory A using the robot manipulator.